public void Run()
{
metadata_pub = rosNodeHandle.advertise <nm.MapMetaData>("map_metadata", 1, true);
if (metadata_pub != null)
{
metadata_pub.publish(mete_data_message_);
}
else
{
throw new Exception("map_metadata话题发布失败！");
}
map_pub = rosNodeHandle.advertise <nm.OccupancyGrid>("map", 1, true);
if (map_pub != null)
{
map_pub.publish(map_resp_.map);
}
else
{
throw new Exception("map话题发布失败！");
}
server = rosNodeHandle.advertiseService <TwoInts.Request, TwoInts.Response>("/add_two_ints", addition);
//可能rosnet 框架问题，服务不能够发布，后面解决
service = rosNodeHandle.advertiseService <nm.GetMap.Request, nm.GetMap.Response>("/static_map", mapCallback);
}
public void AdvertiseReconfigureService()
{
string sn = names.resolve(name, "set_parameters");
if (timeout == 0)
{
try
{
Service.waitForService(sn, 1);
}
catch
{
Service.waitForService(sn, timeout);
}
}
else
{
Service.waitForService(sn, timeout);
}
setServer = nh.advertiseService(sn, (Reconfigure.Request req, ref Reconfigure.Request res) =>
{
res.config = req.config;
return(true);
});
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
ROS.Init(new string[0], NODE_NAME);
nodeHandle = new NodeHandle();
server = nodeHandle.advertiseService <TwoInts.Request, TwoInts.Response>("/add_two_ints", addition);
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
ROS.Init(new string[0], NODE_NAME);
nodeHandle = new NodeHandle();
server = nodeHandle.advertiseService<TwoInts.Request, TwoInts.Response>("/add_two_ints", addition);
}
static void Main(string[] args)
{
// Setup the logging system
var loggerFactory = new LoggerFactory();
loggerFactory.AddProvider(
new ConsoleLoggerProvider(
(string text, LogLevel logLevel) => { return(logLevel >= LogLevel.Information); }, true)
);
Logger = ApplicationLogging.CreateLogger(nameof(Main));
ROS.SetLoggerFactory(loggerFactory);
NodeHandle nodeHandle;
string NODE_NAME = "ServiceServerTest";
ServiceServer server;
try
{
ROS.Init(new string[0], NODE_NAME);
}
catch (RosException e)
{
Logger.LogCritical("ROS.Init failed, shutting down: {0}", e.Message);
ROS.shutdown();
ROS.waitForShutdown();
return;
}
try
{
nodeHandle = new NodeHandle();
server = nodeHandle.advertiseService <TwoInts.Request, TwoInts.Response>("/add_two_ints", addition);
while (ROS.ok && server.IsValid)
{
Thread.Sleep(10);
}
}
catch (RosException e)
{
Logger.LogCritical("Shutting down: {0}", e.Message);
}
ROS.shutdown();
ROS.waitForShutdown();
}
public void AdvertiseReconfigureService()
{
if (timeout == 0)
{
try
{
Service.waitForService(set_service_name, 1);
}
catch
{
Service.waitForService(set_service_name, timeout);
}
}
else
{
Service.waitForService(set_service_name, timeout);
}
setServer = nh.advertiseService(set_service_name, (Reconfigure.Request req, ref Reconfigure.Request res) =>
{
res.config = req.config;
return(true);
});
}
static void Main(string[] args)
{
NodeHandle nodeHandle;
string NODE_NAME = "ServiceServerTest";
ServiceServer server;
try
{
ROS.Init(new string[0], NODE_NAME);
var spinner = new AsyncSpinner();
spinner.Start();
}
catch (RosException e)
{
ROS.Critical()("ROS.Init failed, shutting down: {0}", e.Message);
ROS.shutdown();
ROS.waitForShutdown();
return;
}
try
{
nodeHandle = new NodeHandle();
server = nodeHandle.advertiseService <TwoInts.Request, TwoInts.Response>("/add_two_ints", addition);
while (ROS.ok && server.IsValid)
{
Thread.Sleep(10);
}
}
catch (RosException e)
{
ROS.Critical()("Shutting down: {0}", e.Message);
}
ROS.shutdown();
ROS.waitForShutdown();
}
void OnRosInit()
{
nh = ROS.GlobalNodeHandle;
// nh = new NodeHandle ( "~" );
pathSrv = nh.advertiseService <GetPath.Request, GetPath.Response> ("quad_rotor/get_path", GetPathService);
// setOrientSrv = nh.advertiseService<Messages.std_srvs.Empty.Request> ("quad_rotor/reset_orientation", TriggerReset)
// enableMotorSrv = nh.advertiseService<EnableMotors.Request, EnableMotors.Response> ( "enable_motors", OnEnableMotors );
nh.setParam("control_mode", "wrench"); // for now force twist mode
twistSub = nh.subscribe <Twist> ("quad_rotor/cmd_vel", 10, TwistCallback);
wrenchSub = nh.subscribe <Wrench> ("quad_rotor/cmd_force", 10, WrenchCallback);
posePub = nh.advertise <PoseStamped> ("quad_rotor/pose", 10, false);
imuPub = nh.advertise <Imu> ("quad_rotor/imu", 10, false);
// imgPub = nh.advertise<Image> ( "quad_rotor/image", 10, false );
pubThread = new Thread(PublishAll);
pubThread.Start();
gravitySrv = nh.advertiseService <SetBool.Request, SetBool.Response> ("quad_rotor/gravity", GravityService);
constrainForceXSrv = nh.advertiseService <SetBool.Request, SetBool.Response> ("quad_rotor/x_force_constrained", ConstrainForceX);
constrainForceYSrv = nh.advertiseService <SetBool.Request, SetBool.Response> ("quad_rotor/y_force_constrained", ConstrainForceY);
constrainForceZSrv = nh.advertiseService <SetBool.Request, SetBool.Response> ("quad_rotor/z_force_constrained", ConstrainForceZ);
constrainTorqueXSrv = nh.advertiseService <SetBool.Request, SetBool.Response> ("quad_rotor/x_torque_constrained", ConstrainTorqueX);
constrainTorqueYSrv = nh.advertiseService <SetBool.Request, SetBool.Response> ("quad_rotor/y_torque_constrained", ConstrainTorqueY);
constrainTorqueZSrv = nh.advertiseService <SetBool.Request, SetBool.Response> ("quad_rotor/z_torque_constrained", ConstrainTorqueZ);
triggerResetSrv = nh.advertiseService <SetBool.Request, SetBool.Response> ("quad_rotor/reset_orientation", TriggerReset);
// triggerResetSrv = nh.advertiseService<Empty.Request, Empty.Response> ( "quad_rotor/reset_orientation", TriggerReset );
setPoseSrv = nh.advertiseService <SetPose.Request, SetPose.Response> ("quad_rotor/set_pose", SetPoseService);
clearPathSrv = nh.advertiseService <SetBool.Request, SetBool.Response> ("quad_rotor/clear_path", ClearPathService);
setPathSrv = nh.advertiseService <SetPath.Request, SetPath.Response> ("quad_rotor/set_path", SetPathService);
}
void OnRosInit()
{
nh = ROS.GlobalNodeHandle;
poseTypeSrv = nh.advertiseService <SetInt.Request, SetInt.Response> ("/quad_rotor/camera_pose_type", SetCameraPoseType);
distanceSrv = nh.advertiseService <SetFloat.Request, SetFloat.Response> ("/quad_rotor/camera_distance", SetFollowDistance);
}
