| 24 | const DEFAULT_TIMEOUT = 2000; |
| 25 | |
| 26 | const createTestConnection = (address: string): ROSLIB.Ros => { |
| 27 | let cleanAddress = address.startsWith('@') ? address.substring(1) : address; |
| 28 | let url = cleanAddress; |
| 29 | |
| 30 | if (!url.startsWith('ws://') && !url.startsWith('wss://') && !url.startsWith('http://') && !url.startsWith('https://')) { |
| 31 | url = `ws://${url}:9090`; |
| 32 | } else if (url.startsWith('http://')) { |
| 33 | url = url.replace('http://', 'ws://'); |
| 34 | if (!url.includes(':')) { |
| 35 | url = `${url}:9090`; |
| 36 | } |
| 37 | } else if (url.startsWith('https://')) { |
| 38 | url = url.replace('https://', 'wss://'); |
| 39 | if (!url.includes(':')) { |
| 40 | url = `${url}:9090`; |
| 41 | } |
| 42 | } else if ((url.startsWith('ws://') && !url.includes(':', 5)) || |
| 43 | (url.startsWith('wss://') && !url.includes(':', 6))) { |
| 44 | url = `${url}:9090`; |
| 45 | } |
| 46 | |
| 47 | const options: any = { |
| 48 | url, |
| 49 | transportLibrary: 'websocket', |
| 50 | groovyCompatibility: false, |
| 51 | encoding: 'cbor', |
| 52 | }; |
| 53 | |
| 54 | return new ROSLIB.Ros(options); |
| 55 | }; |
| 56 | |
| 57 | async function checkSingleRobot( |
| 58 | robot: Robot, |