public RosLogger(ROSBridgeWebSocketConnection ros)
{
_ros = ros;
_propertypub = _ros.Advertise <PropertyChanged>("/sgv/onto/property_changed");
_objpub = _ros.Advertise <ObjUpdate>("/sgv/onto/object_moved");
_simstatepub = _ros.Advertise <SimulationStateChange>("/sgv/simulation_state_changed");
ScenarioLogManager.Instance.Subscribe(this);
_simstatepub.Publish(
new SimulationStateChange(
SimulationStateChange.SIMULATION_LOADED,
new ROSBridgeLib.msg_helpers.Time(0.0f)
)
);
}
void initROSComms(ROSBridgeWebSocketConnection ros)
{
if (!ros.connected)
{
return;
}
onto_list_srv = ros.Advertise <GetAllClassInstances, GetAllClassInstancesRequest, GetAllClassInstancesResponse>("/sgv/onto/GetAllClassInstances", onGetAllClassInstances);
onto_list_with_pose_srv = ros.Advertise <GetAllClassInstancesWithPoses, GetAllClassInstancesWithPosesRequest, GetAllClassInstancesWithPosesResponse>("/sgv/onto/GetAllClassInstancesWithPoses", onGetAllClassInstancesWithPoses);
relabelObject_srv = ros.Advertise <RelabelObject, RelabelObjectRequest, RelabelObjectResponse>("/sgv/sim/RelabelObject", onRelabelObject);
l_hand_pub = ros.Advertise <ROSBridgeLib.ontology_msgs.HandUpdate>("/sgv/human/hands/left");
r_hand_pub = ros.Advertise <ROSBridgeLib.ontology_msgs.HandUpdate>("/sgv/human/hands/right");
_rosLogger = new RosLogger(ros);
_ready = true;
}
void Start()
{
if (this.rosBridgeIP.Equals(string.Empty))
{
this.rosBridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP;
}
if (this.rosBridgePort == 0)
{
this.rosBridgePort = ConfigManager.Instance.configInfo.rosbridgePort;
}
this.webSocketConnection = new SIGVerse.ROSBridge.ROSBridgeWebSocketConnection(rosBridgeIP, rosBridgePort);
this.publisher = this.webSocketConnection.Advertise <Tmsg>(sendingTopicName);
// Connect to ROSbridge server
this.webSocketConnection.Connect();
}
void Start()
{
if (this.rosBridgeIP.Equals(string.Empty))
{
this.rosBridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP;
}
if (this.rosBridgePort == 0)
{
this.rosBridgePort = ConfigManager.Instance.configInfo.rosbridgePort;
}
this.webSocketConnection = new SIGVerse.ROSBridge.ROSBridgeWebSocketConnection(rosBridgeIP, rosBridgePort);
this.jointStatePublisher = this.webSocketConnection.Advertise <JointState>(topicName);
// Connect to ROSbridge server
this.webSocketConnection.Connect();
this.jointState = new JointState();
this.jointState.header = new Header(0, new SIGVerse.ROSBridge.msg_helpers.Time(0, 0), "hsrb_joint_states");
this.jointState.name = new List <string>();
this.jointState.name.Add(HSRCommon.ArmLiftJointName); //1
this.jointState.name.Add(HSRCommon.ArmFlexJointName); //2
this.jointState.name.Add(HSRCommon.ArmRollJointName); //3
this.jointState.name.Add(HSRCommon.WristFlexJointName); //4
this.jointState.name.Add(HSRCommon.WristRollJointName); //5
this.jointState.name.Add(HSRCommon.HeadPanJointName); //6
this.jointState.name.Add(HSRCommon.HeadTiltJointName); //7
this.jointState.position = null;
this.jointState.velocity = new List <double> {
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
};
this.jointState.effort = new List <double> {
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
};
}