private void ImportAssets()
{
if (!statusEvents["connected"].WaitOne(timeout * 1000))
{
Debug.LogWarning("Failed to connect to ROS before timeout");
return;
}
// setup urdfImporter
RosBridgeClient.UrdfImporter urdfImporter = new RosBridgeClient.UrdfImporter(rosSocket, assetPath);
statusEvents["robotNameReceived"] = urdfImporter.Status["robotNameReceived"];
statusEvents["robotDescriptionReceived"] = urdfImporter.Status["robotDescriptionReceived"];
statusEvents["resourceFilesReceived"] = urdfImporter.Status["resourceFilesReceived"];
urdfImporter.Import();
if (statusEvents["robotNameReceived"].WaitOne(timeout * 1000))
{
robotName = urdfImporter.RobotName;
localDirectory = urdfImporter.LocalDirectory;
}
// import URDF assets:
if (statusEvents["resourceFilesReceived"].WaitOne(timeout * 1000))
{
Debug.Log("Imported urdf resources to " + urdfImporter.LocalDirectory);
}
else
{
Debug.LogWarning("Not all resource files have been received before timeout.");
}
rosSocket.Close();
}
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();
}
private void rosSocketConnect()
{
// intialize
foreach (ManualResetEvent manualResetEvent in status.Values)
{
manualResetEvent.Reset();
}
// connect to ROSbridge
RosSocket rosSocket = new RosSocket(address);
status["connected"].Set();
// setup urdfImporter
urdfImporter = new RosBridgeClient.UrdfImporter(rosSocket, urdfAssetPath);
status["robotNameReceived"] = urdfImporter.Status["robotNameReceived"];
status["robotDescriptionReceived"] = urdfImporter.Status["robotDescriptionReceived"];
status["resourceFilesReceived"] = urdfImporter.Status["resourceFilesReceived"];
Thread urdfImportThread = new Thread(() => urdfImporter.Import());
urdfImportThread.Start();
// import URDF assets:
if (status["resourceFilesReceived"].WaitOne(int.Parse(timeout) * 1000))
{
Debug.Log("Imported urdf resources to " + urdfImporter.LocalDirectory);
}
else
{
Debug.LogWarning("Not all resource files have been received before timeout.");
}
// close the ROSBridge socket
rosSocket.Close();
status["disconnected"].Set();
}
