Run examples in Travis

.gitignore

@@ -2,3 +2,5 @@
 .vagrant
 doc
 node_modules
+*.out
+*.log

.travis.yml

@@ -1,8 +1,28 @@
 language: node_js
 node_js:
   - "0.10"
+addons:
+  firefox: "31.0" # 3.4->31.0
+os:
+  - linux
 before_install:
   # node-canvas dependency
   - sudo apt-get install libcairo2-dev libjpeg8-dev libpango1.0-dev libgif-dev build-essential g++
+  # ROS deps for examples
+  - sudo sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
+  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+  - sudo apt-get update -qq
+  - sudo apt-get install ros-hydro-ros-base
+  - sudo apt-get install ros-hydro-rosbridge-server ros-hydro-tf2-web-republisher ros-hydro-common-tutorials ros-hydro-rospy-tutorials ros-hydro-actionlib-tutorials
+  - npm install -g grunt-cli karma-cli
+
+  # Set up Xfvb for Firefox headless testing
+  - "export DISPLAY=:99.0"
+  - "sh -e /etc/init.d/xvfb start"
 before_script:
-  - npm install -g grunt-cli
+  - source /opt/ros/hydro/setup.bash
+  - sh test/examples/setup_examples.sh
+script:
+  - rostopic list
+  - npm test
+  - npm run test-examples

Gruntfile.js

@@ -21,15 +21,19 @@ module.exports = function(grunt) {
       build: {
         configFile: './test/karma.conf.js',
         singleRun: true,
-        browsers: ['PhantomJS']
+        browsers: ['Firefox']
       }
     },
     mochaTest: {
+      options: {
+          reporter: 'spec',
+          timeout: 5000
+      },
       test: {
-        options: {
-          reporter: 'spec'
-        },
-        src: ['test/**/*.test.js']
+        src: ['test/*.test.js']
+      },
+      examples: {
+        src: ['test/examples/*.js']
       }
     },
     uglify: {
@@ -95,9 +99,8 @@ module.exports = function(grunt) {
 
 
   grunt.registerTask('dev', ['browserify', 'watch']);
-  grunt.registerTask('test', ['jshint', 'mochaTest', 'browserify', 'karma']);
+  grunt.registerTask('test', ['jshint', 'mochaTest:test', 'browserify', 'karma']);
   grunt.registerTask('build', ['test', 'uglify']);
   grunt.registerTask('build_and_watch', ['watch']);
   grunt.registerTask('doc', ['clean', 'jsdoc']);
 };
-

build/roslib.js

@@ -1115,7 +1115,8 @@ function Topic(options) {
   this.queue_size = options.queue_size || 100;
 
   // Check for valid compression types
-  if (this.compression && this.compression !== 'png' && this.compression !== 'none') {
+  if (this.compression && this.compression !== 'png' &&
+        this.compression !== 'none') {
     this.emit('warning', this.compression +
       ' compression is not supported. No compression will be used.');
   }
@@ -1138,44 +1139,34 @@ Topic.prototype.__proto__ = EventEmitter2.prototype;
  */
 Topic.prototype.subscribe = function(callback) {
   var that = this;
-
-  this.on('message', function(message) {
-    callback(message);
-  });
-
+  this.on('message', callback);
   this.ros.on(this.name, function(data) {
     var message = new Message(data);
     that.emit('message', message);
   });
 
-  this.ros.idCounter++;
-  var subscribeId = 'subscribe:' + this.name + ':' + this.ros.idCounter;
-  var call = {
-    op : 'subscribe',
-    id : subscribeId,
-    type : this.messageType,
-    topic : this.name,
-    compression : this.compression,
-    throttle_rate : this.throttle_rate
-  };
-
-  this.ros.callOnConnection(call);
+  this.subscribeId = 'subscribe:' + this.name + ':' + (++this.ros.idCounter);
+  this.ros.callOnConnection({
+    op: 'subscribe',
+    id: this.subscribeId,
+    type: this.messageType,
+    topic: this.name,
+    compression: this.compression,
+    throttle_rate: this.throttle_rate
+  });
 };
 
 /**
  * Unregisters as a subscriber for the topic. Unsubscribing will remove
  * all subscribe callbacks.
  */
 Topic.prototype.unsubscribe = function() {
-  this.ros.removeAllListeners([ this.name ]);
-  this.ros.idCounter++;
-  var unsubscribeId = 'unsubscribe:' + this.name + ':' + this.ros.idCounter;
-  var call = {
-    op : 'unsubscribe',
-    id : unsubscribeId,
-    topic : this.name
-  };
-  this.ros.callOnConnection(call);
+  this.ros.removeAllListeners([this.name]);
+  this.ros.callOnConnection({
+    op: 'unsubscribe',
+    id: this.subscribeId,
+    topic: this.name
+  });
 };
 
 /**
@@ -1185,17 +1176,15 @@ Topic.prototype.advertise = function() {
   if (this.isAdvertised) {
     return;
   }
-  this.ros.idCounter++;
-  this.advertiseId = 'advertise:' + this.name + ':' + this.ros.idCounter;
-  var call = {
-    op : 'advertise',
-    id : this.advertiseId,
-    type : this.messageType,
-    topic : this.name,
-    latch : this.latch,
-    queue_size : this.queue_size
-  };
-  this.ros.callOnConnection(call);
+  this.advertiseId = 'advertise:' + this.name + ':' + (++this.ros.idCounter);
+  this.ros.callOnConnection({
+    op: 'advertise',
+    id: this.advertiseId,
+    type: this.messageType,
+    topic: this.name,
+    latch: this.latch,
+    queue_size: this.queue_size
+  });
   this.isAdvertised = true;
 };
 
@@ -1206,13 +1195,11 @@ Topic.prototype.unadvertise = function() {
   if (!this.isAdvertised) {
     return;
   }
-  var unadvertiseId = this.advertiseId;
-  var call = {
-    op : 'unadvertise',
-    id : unadvertiseId,
-    topic : this.name
-  };
-  this.ros.callOnConnection(call);
+  this.ros.callOnConnection({
+    op: 'unadvertise',
+    id: this.advertiseId,
+    topic: this.name
+  });
   this.isAdvertised = false;
 };
 
@@ -1223,22 +1210,22 @@ Topic.prototype.unadvertise = function() {
  */
 Topic.prototype.publish = function(message) {
   if (!this.isAdvertised) {
-      this.advertise();
+    this.advertise();
   }
 
   this.ros.idCounter++;
-  var publishId = 'publish:' + this.name + ':' + this.ros.idCounter;
   var call = {
-    op : 'publish',
-    id : publishId,
-    topic : this.name,
-    msg : message,
-    latch : this.latch
+    op: 'publish',
+    id: 'publish:' + this.name + ':' + this.ros.idCounter,
+    topic: this.name,
+    msg: message,
+    latch: this.latch
   };
   this.ros.callOnConnection(call);
 };
 
 module.exports = Topic;
+
 },{"./Message":7,"eventemitter2":30}],14:[function(require,module,exports){
 /**
  * @author David Gossow - dgossow@willowgarage.com

examples/fibonacci.html

@@ -2,8 +2,8 @@
 <html>
 <head>
 <meta charset="utf-8" />
-<script src="\\cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="\\cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
+<script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
+<script src="../build/roslib.js"></script>
 
 <script>
   // Connecting to ROS

examples/fibonacci_server.html

@@ -3,7 +3,7 @@
 <head>
 <meta charset="utf-8" />
 <script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
+<script src="../build/roslib.js"></script>
 
 <script>
   // Connecting to ROS
@@ -41,14 +41,14 @@
 
       if (that.canceled === true ) {
         console.log("Action server preempted");
-        
+
         that.fibonacciServer.setPreempted();
       }
       console.log(fibonacciSequence);
       //send feedback
       var feedback = { sequence: fibonacciSequence };
       that.fibonacciServer.sendFeedback(fibonacciSequence);
-    }      
+    }
 
     //send result
     var result = { sequence: fibonacciSequence};

examples/math.html

@@ -3,7 +3,7 @@
 <head>
 <meta charset="utf-8" />
 <script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
+<script src="../build/roslib.js"></script>
 
 <script>
   // Let's start by adding some vectors.

examples/simple.html

@@ -3,7 +3,7 @@
 <head>
 <meta charset="utf-8" />
 <script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
+<script src="../build/roslib.js"></script>
 
 <script>
   // Connecting to ROS
@@ -48,7 +48,7 @@
     messageType : 'geometry_msgs/Twist'
   });
 
-  // Then we create the payload to be published. The object we pass in to ros.Message matches the 
+  // Then we create the payload to be published. The object we pass in to ros.Message matches the
   // fields defined in the geometry_msgs/Twist.msg definition.
   var twist = new ROSLIB.Message({
     linear : {
@@ -69,7 +69,7 @@
   //Subscribing to a Topic
   //----------------------
 
-  // Like when publishing a topic, we first create a Topic object with details of the topic's name 
+  // Like when publishing a topic, we first create a Topic object with details of the topic's name
   // and message type. Note that we can call publish or subscribe on the same topic object.
   var listener = new ROSLIB.Topic({
     ros : ros,
@@ -95,7 +95,7 @@
     serviceType : 'rospy_tutorials/AddTwoInts'
   });
 
-  // Then we create a Service Request. The object we pass in to ROSLIB.ServiceRequest matches the 
+  // Then we create a Service Request. The object we pass in to ROSLIB.ServiceRequest matches the
   // fields defined in the rospy_tutorials AddTwoInts.srv file.
   var request = new ROSLIB.ServiceRequest({
     a : 1,

examples/tf.html

@@ -3,7 +3,7 @@
 <head>
 <meta charset="utf-8" />
 <script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
+<script src="../build/roslib.js"></script>
 
 <script>
   // Connecting to ROS

examples/urdf.html

@@ -3,11 +3,11 @@
 <head>
 <meta charset="utf-8" />
 <script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
-<script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
+<script src="../build/roslib.js"></script>
 
 <script>
   /**
-   * Setup all visualization elements when the page is loaded. 
+   * Setup all visualization elements when the page is loaded.
    */
   function init() {
     // Connect to ROS.
@@ -20,13 +20,13 @@
       ros : ros,
       name : 'robot_description'
     });
-  
+
     param.get(function(param) {
       // Setup the loader for the URDF.
       var urdfModel = new ROSLIB.UrdfModel({
         string : param
       });
-      
+
       console.log(urdfModel);
     });
     // If there is an error on the backend, an 'error' emit will be emitted.
@@ -37,7 +37,7 @@
       document.getElementById('error').style.display = 'inline';
       console.log(error);
     });
-  
+
     // Find out exactly when we made a connection.
     ros.on('connection', function() {
       console.log('Connection made!');
@@ -46,7 +46,7 @@
       document.getElementById('closed').style.display = 'none';
       document.getElementById('connected').style.display = 'inline';
     });
-  
+
     ros.on('close', function() {
       console.log('Connection closed.');
       document.getElementById('connecting').style.display = 'none';

package.json

@@ -13,7 +13,7 @@
     "grunt-mocha-test": "^0.11.0",
     "karma-chai": "^0.1.0",
     "karma-mocha": "^0.1.9",
-    "karma-phantomjs-launcher": "^0.1.4"
+    "karma-firefox-launcher": "~0.1.3"
   },
   "dependencies": {
     "canvas": "1.1.3",
@@ -36,6 +36,7 @@
   },
   "scripts": {
     "test": "grunt test",
+    "test-examples": "grunt mochaTest:examples && karma start test/examples/karma.conf.js",
     "publish": "grunt build"
   },
   "repository": {