Alternative syntax for create Topics, Services, Params, etc

src/RosLib.js

@@ -6,7 +6,7 @@ var ROSLIB = this.ROSLIB || {
   REVISION : '0.10.0-SNAPSHOT'
 };
 
-ROSLIB.Ros = require('./core/Ros');
+var Ros = ROSLIB.Ros = require('./core/Ros');
 ROSLIB.Topic = require('./core/Topic');
 ROSLIB.Message = require('./core/Message');
 ROSLIB.Param = require('./core/Param');
@@ -38,4 +38,12 @@ ROSLIB.UrdfVisual = require('./urdf/UrdfVisual');
 // Add URDF types
 require('object-assign')(ROSLIB, require('./urdf/UrdfTypes'));
 
+['ActionClient', 'Param', 'Service', 'SimpleActionServer', 'Topic', 'TFClient'].forEach(function(className) {
+    var Class = ROSLIB[className];
+    Ros.prototype[className] = function(options) {
+        options.ros = this;
+        return new Class(options);
+    };
+});
+
 module.exports = ROSLIB;

test/examples/tf.example.js

@@ -20,4 +20,23 @@ describe('TF2 Republisher Example', function() {
             done();
         });
     });
+
+    it('tf republisher alternative syntax', function(done) {
+        var ros = new ROSLIB.Ros({
+            url: 'ws://localhost:9090'
+        });
+
+        var tfClient = ros.TFClient({
+            fixedFrame: 'world',
+            angularThres: 0.01,
+            transThres: 0.01
+        });
+
+        // Subscribe to a turtle.
+        tfClient.subscribe('turtle1', function(tf) {
+            expect(tf.rotation).to.be.eql(new ROSLIB.Quaternion());
+            expect(tf.translation).to.be.a.instanceof(ROSLIB.Vector3);
+            done();
+        });
+    });
 });