const rosnodejs = require('rosnodejs');
rosnodejs.initNode('/my_node')
.then(() => {
  // do stuff
});

const nh = rosnodejs.nh;
const sub = nh.subscribe('/chatter', 'std_msgs/String', (msg) => {
  console.log('Got msg on chatter: %j', msg);
});

const pub = nh.advertise('/chatter', 'std_msgs/String');
pub.publish({ data: "hi" });

const nh = rosnodejs.nh;
const sub = nh.subscribe('/chatter', 'std_msgs/String', (msg) => {
  console.log('Got msg on chatter: %j', msg);
}, {
  transports: ["TCPROS", "UDPROS"],  // specify transports, default ["TCPROS"]
  dgramSize: 1500   // optional: datagram packet size, default: 1500 bytes
});

const pub = nh.advertise('/chatter', 'std_msgs/String');
pub.publish({ data: "hi" });

const service = nh.advertiseService('/add_two_ints', 'beginner_tutorials/AddTwoInts', (req, res) => {
  res.sum = req.a + req.b;
  return true;
});

const client = nh.serviceClient('/add_two_ints', 'beginner_tutorials/AddTwoInts');
client.call({a: 1, b: 2});

nh.setParam('val', 2);
nh.getParam('val')
.then((val) => {
  // do stuff
});

const rosnodejs = require('rosnodejs');
rosnodejs.loadAllPackages();

const rosnodejs = require('rosnodejs');
rosnodejs.initNode('my_node', { onTheFly: true }).then(() => {
  const stdMsgs = rosnodejs.require('std_msgs');
  ...
}

const sensorMsgs = rosnodejs.require('sensor_msgs');

const image = new sensorMsgs.msg.Image();
const temperature = new sensorMsgs.msg.Temperature({ temperature: 32 });

const SetCameraInfo = sensorMsgs.srv.SetCameraInfo;
const setRequest = new SetCameraInfo.Request();

// messages can be used when advertising/subscribing
const nh = rosnodejs.nh;
const StringMsg = rosnodejs.require('std_msgs').msg.String;
const sub = nh.subscribe('/chatter', StringMsg, (msg) => { ... });
const pub = nh.advertise('/chatter', StringMsg);

const AddTwoInts = rosnodejs.require('beginner_tutorials').srv.AddTwoInts;
const service = nh.advertiseService('/add_two_ints', AddTwoInts, (req, res) => { ... });
const client = nh.serviceClient('/add_two_ints', AddTwoInts);

const nh = rosnodejs.nh;
const as = new rosnodejs.ActionServer({
  nh,
  type: 'turtle_actionlib/Shape',
  actionServer: '/turtle_shape'
});

as.on('goal', function (goal) {
  goal.setAccepted();
});

as.start();

const ac = new rosnodejs.ActionClient({
  nh,
  type: 'turtle_actionlib/Shape',
  actionServer:'/turtle_shape'
});

ac.sendGoal({edges: 3, radius: 1});