public static RosSocket ConnectToRos(RosBridgeClient.Protocols.Protocol protocolType, string serverUrl, EventHandler onConnected = null, EventHandler onClosed = null, RosSocket.SerializerEnum serializer = RosSocket.SerializerEnum.JSON)
{
RosBridgeClient.Protocols.IProtocol protocol = RosBridgeClient.Protocols.ProtocolInitializer.GetProtocol(protocolType, serverUrl);
protocol.OnConnected += onConnected;
protocol.OnClosed += onClosed;
return(new RosSocket(protocol, serializer));
}
public static RosSocket ConnectToRos(Protocols protocolType, string serverUrl, EventHandler onConnected = null, EventHandler onClosed = null)
{
RosBridgeClient.Protocols.IProtocol protocol = GetProtocol(protocolType, serverUrl);
protocol.OnConnected += onConnected;
protocol.OnClosed += onClosed;
return(new RosSocket(protocol));
}
public static RosSocket ConnectToRos(Protocols protocolType, string serverUrl, EventHandler onConnected = null, EventHandler onClosed = null, RosSocket.SerializerEnum serializer = RosSocket.SerializerEnum.JSON)
{
RosBridgeClient.Protocols.IProtocol protocol = GetProtocol(protocolType, serverUrl);
protocol.OnConnected += onConnected;
protocol.OnClosed += onClosed;
Debug.Log("protocolType: " + protocolType + " serverUrl:" + serverUrl);
return(new RosSocket(protocol, serializer));
}
public void Awake()
{
RosBridgeClient.Protocols.IProtocol protocol = GetProtocol();
protocol.OnConnected += OnConnected;
protocol.OnClosed += OnClosed;
RosSocket = new RosSocket(protocol);
if (!IsConnected.WaitOne(timeout * 1000))
{
Debug.LogWarning("Failed to connect to RosBridge at: " + RosBridgeServerUrl);
}
}
private void rosSocketConnect()
{
// initialize
foreach (ManualResetEvent manualResetEvent in status.Values)
{
manualResetEvent.Reset();
}
// connect to rosbrige_suite:
RosBridgeClient.Protocols.IProtocol protocol = GetProtocol();
RosSocket rosSocket = new RosSocket(protocol);
CheckConnection(protocol);
if (!status["connected"].WaitOne(0))
{
rosSocket.Close();
return;
}
// setup urdfImporter
RosBridgeClient.UrdfImporter urdfImporter = new RosBridgeClient.UrdfImporter(rosSocket, assetPath);
status["robotNameReceived"] = urdfImporter.Status["robotNameReceived"];
status["robotDescriptionReceived"] = urdfImporter.Status["robotDescriptionReceived"];
status["resourceFilesReceived"] = urdfImporter.Status["resourceFilesReceived"];
urdfImporter.Import();
if (status["robotNameReceived"].WaitOne(timeout * 1000))
{
robotName = urdfImporter.RobotName;
localDirectory = urdfImporter.LocalDirectory;
}
// import URDF assets:
if (status["resourceFilesReceived"].WaitOne(timeout * 1000))
{
Debug.Log("Imported urdf resources to " + urdfImporter.LocalDirectory);
}
else
{
Debug.LogWarning("Not all resource files have been received before timeout.");
}
status["disconnected"].Set();
rosSocket.Close();
}
public void BeginRosImport(int protocolNumber, string address, int timeout, string assetPath)
{
this.protocolNumber = protocolNumber;
this.address = address;
this.timeout = timeout;
this.assetPath = assetPath;
// initialize
ResetStatusEvents();
RosBridgeClient.Protocols.IProtocol protocol = GetProtocol();
protocol.OnConnected += OnConnected;
protocol.OnClosed += OnClose;
rosSocket = new RosSocket(protocol);
ImportAssets();
}
private void CheckConnection(RosBridgeClient.Protocols.IProtocol protocol)
{
Debug.Log("Attempting to connect to ROS");
System.Diagnostics.Stopwatch stopwatch = new System.Diagnostics.Stopwatch();
stopwatch.Start();
while (!protocol.IsAlive() && stopwatch.Elapsed < TimeSpan.FromSeconds(timeout))
{
Thread.Sleep(500);
}
stopwatch.Stop();
if (protocol.IsAlive())
{
status["connected"].Set();
}
else
{
Debug.LogWarning("Failed to connect to ROS before timeout");
}
}
