public void robotOrderedGotoDockingArea(String textOrdered)
{
StandardString messages = new StandardString();
messages.data = textOrdered;
rosSocket.Publish(paramsRosSocket.publication_serverRobotGotToLineDockingArea, messages);
}
public static void visualizeLane(lane laneViz)
{
LaneArray wpLaneArray2 = new LaneArray();
lane[] laneArraViz2 = new lane[1];
laneArraViz2[0] = laneViz;
wpLaneArray2.lane = laneArraViz2;
rosSocket.Publish(publish_laneArray, wpLaneArray2);
}
internal void Home_Click(object sender, RoutedEventArgs e)
{
if (rosSocket != null)
{
std_msgs.RosInt32 command = new std_msgs.RosInt32(0);
rosSocket.Publish(commandPubId, command);
UpdateCurrentTask("Going Home", "");
}
}
public void rosMeasurementsMessager()
{
bm_msgs.bm_message measurements_message = new bm_msgs.bm_message
{
chest_size_msg = Math.Round((chest_size * 100), 2),
waist_size_msg = Math.Round((waist_size * 100), 2),
bottom_size_msg = Math.Round((bottom_size * 100), 2),
shoulder_size_msg = Math.Round((shoulder_front * 100), 2),
sleeve_size_msg = Math.Round((sleeve_front * 100), 2)
};
rosSocket.Publish(rosBMMeasurements_Id, measurements_message);
}
public void PublishJointsIIWA()
{
if (qList != null)
{
rosSocket.Publish(publicationIdIIWA, CreateJointsMessageIIWA(qList[c]));
c++;
if (c == qList.Length)
{
Flag = false;
c = 0;
}
}
}
public void AddObstacle(Vector3 position, bool isTarget)
{
var isTargetString = isTarget ? "true" : "false";
var data = $"{{" +
$" \"position\": {{" +
$" \"x\": {position.x}," +
$" \"y\": {position.z}" +
$" }}," +
$" \"is_target\": {isTargetString}" +
$"}}";
Debug.Log(data);
socket.Publish(addObstaclePublisher, new String(data));
}
public void walkAhead()
{
msgs.Geometry.Vector3 linear = new msgs.Geometry.Vector3();
msgs.Geometry.Vector3 angular = new msgs.Geometry.Vector3();
msgs.Geometry.Twist message = new msgs.Geometry.Twist();
linear.x = 1.0f;
linear.y = 0.0f;
linear.z = 0.0f;
angular.x = 0.0f;
angular.y = 0.0f;
angular.z = 0.0f;
message.linear = linear;
message.angular = angular;
socket.Publish(publication_id, message);
}
public virtual void CommandActuator(double[] efforts)
{
/*
* new RosSharp.RosBridgeClient.MessageTypes.Std.Header(
* 1, new RosSharp.RosBridgeClient.MessageTypes.Std.Time((uint)DateTime.Now.TimeOfDay.TotalSeconds, 40), "my frame")*/
Actuators msg = new Actuators(
new RosSharp.RosBridgeClient.MessageTypes.Std.Header(),
new double[0],
efforts,
new double[0]);
string json = JsonConvert.SerializeObject(msg);
RosSocket.Publish(Topics.GetPublishId(nameof(CommandActuator)), msg);
Console.WriteLine($"Publishing to {Topics.GetTopic(nameof(CommandActuator))}: {json}");
}
void Update()
{
//float[] randomInput = new float[6];
//for (int i = 0; i < 6; i++)
//{
// randomInput[i] = (float) (s_RandomInstance.NextDouble() * 2 - 1);
//}
//m_Socket.Publish("/processed_arm_controller_input", new ProcessedControllerInput
//{
// ControllerInput = randomInput
//});
//m_Socket.Publish("/WheelSpeed", new WheelSpeed
//{
// Wheel_Speed = new[] { 5.0f, 5.0f }
//});
m_Socket.Publish("/LidarData", new LidarData
{
distances = lidarSensor.getCurrentDistances(),
angle = lidarSensor.getCurrentAngle()
});
//m_Socket.Publish("/TestTopic", new Int32());
}
public static void Main(string[] args)
{
//RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketSharpProtocol(uri));
RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(uri));
// Publication:
std_msgs.String message = new std_msgs.String("publication test message data");
string publication_id = rosSocket.Advertise <std_msgs.String>("publication_test");
rosSocket.Publish(publication_id, message);
// Subscription:
string subscription_id = rosSocket.Subscribe <std_msgs.String>("/subscription_test", SubscriptionHandler);
subscription_id = rosSocket.Subscribe <std_msgs.String>("/subscription_test", SubscriptionHandler);
// Service Call:
rosSocket.CallService <rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param", ServiceCallHandler, new rosapi.GetParamRequest("/rosdistro", "default"));
rosSocket.CallService <rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param", ServiceCallHandler, new rosapi.GetParamRequest("/rosdistro", "default"));
// Service Response:
string service_id = rosSocket.AdvertiseService <std_srvs.TriggerRequest, std_srvs.TriggerResponse>("/service_response_test", ServiceResponseHandler);
Console.WriteLine("Press any key to unsubscribe...");
Console.ReadKey(true);
rosSocket.Unadvertise(publication_id);
rosSocket.Unsubscribe(subscription_id);
rosSocket.UnadvertiseService(service_id);
Console.WriteLine("Press any key to close...");
Console.ReadKey(true);
rosSocket.Close();
}
void Update()
{
tapk = taptrigger.tap;
if (tapk == true)
{
/*if (moji == "true")
* {
* moji = "false";
* }
* else if (moji == "false")
* {
* moji= "true";
* }
* else
* {
* moji = "trulse";
* }*/
moji = "true";
message.data = moji;
rosSocket.Publish(advertise_id, message);
taptrigger.tap = false;
tapk = false;
}
}
public static void Main(string[] args)
{
//RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketSharpProtocol(uri));
RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(uri));
// Publication:
int ImageDataSize = 100;
sensor_msgs.CompressedImage image = new sensor_msgs.CompressedImage();
image.header.frame_id = "Test";
string publication_id = rosSocket.Advertise <sensor_msgs.CompressedImage>("/test_image");
Console.WriteLine("Press any key to start publication...");
Console.ReadKey(true);
for (int i = 0; i < 100000; i++)
{
image.header.seq += 1;
image.data = Enumerable.Repeat((byte)0x20, ImageDataSize).ToArray();
rosSocket.Publish(publication_id, image);
}
Console.WriteLine("Press any key to close...");
Console.ReadKey(true);
rosSocket.Unadvertise(publication_id);
rosSocket.Close();
}
void YISubscribe()
{
for (int i = 0; i < dbsub.cnt; i++) //受け取った座標を更新
{
px[i] = newPlane[i].gameObject.transform.localPosition.x;
py[i] = newPlane[i].gameObject.transform.localPosition.y;
pz[i] = newPlane[i].gameObject.transform.localPosition.z;
rx[i] = newPlane[i].gameObject.transform.localEulerAngles.x;
ry[i] = newPlane[i].gameObject.transform.localEulerAngles.y;
rz[i] = newPlane[i].gameObject.transform.localEulerAngles.z;
sx[i] = newPlane[i].gameObject.transform.localScale.x;
sy[i] = newPlane[i].gameObject.transform.localScale.y;
sz[i] = newPlane[i].gameObject.transform.localScale.z;
}
transI.image_num = dbsub.cnt;
transI.position_x = px;
transI.position_y = py;
transI.position_z = pz;
transI.rotation_x = rx;
transI.rotation_y = ry;
transI.rotation_z = rz;
transI.scale_x = sx;
transI.scale_y = sy;
transI.scale_z = sz;
transI.TimeB = dbsub.TimeB;
transI.TimeT = dbsub.TimeT;
Debug.Log(Mynumber);
//advertise_id = rosSocket.Advertise("/myinfo" + Mynumber, "detect_object/DBinfo");
advertise_id = rosSocket.Advertise("/myinfo" + Mynumber, "detect_object/TransformInfo");
rosSocket.Publish(advertise_id, transI);
yourinfo_check_topic = false;
}
void Update()
{
laser2.defineParameters(maxLeftAngle, maxRightAngle, maxTopAngle, maxBottomAngle, verticalIncrement, horizontalIncrement, maxDistance, 1 << 8, repetitions);
if (run)
{
//this function is resposible for push the correct points to the pcl cloud
if (laser2.runCasterSequentialRep(ref pcl, this, drawRay))
{
//convert from pcl cloud to pcl cloud2
pcl.convertToCloud2();
//create a new mensage to be send
SensorPointCloud2 pc = new SensorPointCloud2();
//from the Pcl cloud2 converted to Ros cloud2 using marshal for better performance
pcl.convertToRosCloud(ref pc, frame_id);
//publish the ros cloud mensage
rosSocket.Publish(publication_id, pc);
//restart pcl cloud
pc = new SensorPointCloud2();
pcl.createPclCloud(0, 0, true);
}
}
}
void Publish()
{
string message = "Hi " + count++;
rosSocket.Publish("/chatter", new std_msgs.String(message));
// Publication:
int ImageDataSize = 100;
sensor_msgs.CompressedImage image = new sensor_msgs.CompressedImage();
image.header.frame_id = "Test";
image.header.seq += 1;
image.data = Enumerable.Repeat((byte)0x20, ImageDataSize).ToArray();
rosSocket.Publish(publication_id, image);
Debug.Log("Publish: " + message);
}
// Update is called once per frame
void Update()
{
if (run)
{
sensor = updateGPS();
rosSocket.Publish(publication_id, sensor);
}
}
void publishn()
{
//Debug.Log("Pub No");
StandardString message = new StandardString();
message.data = "Pick Position: " + primaryCubeOne.transform.position.x + ", " + primaryCubeOne.transform.position.y + ", " + primaryCubeOne.transform.position.z + " | " + "Pick Rotation: " + primaryCubeOne.transform.eulerAngles + " | " + "Place Position: " + primaryCubeOnePick.transform.position.x + ", " + primaryCubeOnePick.transform.position.y + ", " + primaryCubeOnePick.transform.position.z + " | " + "Place Position: " + primaryCubeOnePick.transform.eulerAngles + " | " + "World Center: " + WorldCenter.transform.position.x + ", " + WorldCenter.transform.position.y + ", " + WorldCenter.transform.position.z + " | " + "World Center is: " + WorldCenter.transform.eulerAngles;
ros.Publish(publication_id, message);
}
// Update is called once per frame
void Update()
{
if (run)
{
//get Imuvalue
sensor = updateImu();
rosSocket.Publish(publication_id, sensor);
}
}
private static void ReceiveMessage(Clock msg)
{
LastMsg = "secs " + msg.clock.secs;
Console.WriteLine(LastMsg);
rosSocket.Publish(publishId, new Clock()
{
clock = new Time(10, 20),
});
}
private void AddCollisionObjects(string _object, float _centerX, float _centerY, float _centerZ, bool _useSpecialBoxGeometry = false)
{
CollisionObject collisionObjectMsg = CollisionObjectHandler.AddCollisionObject(_object, _centerX, _centerY, _centerZ, _useSpecialBoxGeometry);
// Publication:
string publicationID = rosSocket.Advertise <CollisionObject>("collision_object");
rosSocket.Publish(publicationID, collisionObjectMsg);
}
public void checkAliveTimeOut(Object sender, EventArgs e)
{
if (rosSocket != null)
{
if (!rosSocket.isConnected)
{
timerInterruptCheckAliveTimeOut.Stop();
timerInterruptConnectionRosSocket.Start();
}
else
{
dynamic product = new JObject();
product.count = GlobalVariables.EncodeTransmissionTimestamp();
StandardString messages = new StandardString();
messages.data = product.ToString();
rosSocket.Publish(paramsRosSocket.publication_checkAliveTimeOut, messages);
}
}
}
public void CommandVelocity(Twist twist)
{
if (rosSocket == null)
{
return;
}
Console.WriteLine(nameof(CommandVelocity));
rosSocket.Publish(publicationIds[topic_cmd_vel], twist);
}
public void PublicationTest()
{
string id = RosSocket.Advertise <std_msgs.String>("/publication_test");
std_msgs.String message = new std_msgs.String("publication test message data");
RosSocket.Publish(id, message);
RosSocket.Unadvertise(id);
Thread.Sleep(100);
Assert.IsTrue(true);
}
// Update is called once per frame
void Update()
{
rosSocketIsAlive = rosSocket.protocol.IsAlive();
// Publication:
string publication_id = rosSocket.Advertise <std_msgs.String>("publication_test");
std_msgs.String message = new std_msgs.String();
message.data = "publication test message data";
rosSocket.Publish(publication_id, message);
}
// Publish string to ROS
public void PublishString(string topic, string msg)
{
// Create new standard string and set its data to msg
std_msgs.String message = new std_msgs.String {
data = msg
};
string publicationId = rosSocket.Advertise <std_msgs.String>(topic); // Topic must be in "/topic" format
rosSocket.Publish(publicationId, message);
Debug.Log("Sent:" + msg);
}
void Publish_to_ROS(byte[] image_data)
{
SensorCompressedImage publish_image = new SensorCompressedImage();
publish_image.format = "jpeg";
publish_image.data = image_data;
Debug.Log("ara:Publishing...");
// ROSに画像を送信
rosSocket.Publish(advertise_id, publish_image);
}
private void btnForward_Click(object sender, EventArgs e)
{
string id = RosSocket.Advertise <Twist>("/cmd_vel");
Vector3 linear = new Vector3(0.5, 0.0, 0.0);
Vector3 angular = new Vector3(0.0, 0.0, 0.0);
Twist forward = new Twist(linear, angular);
RosSocket.Publish(id, forward); //发布
RosSocket.Unadvertise(id); //取消发布
Thread.Sleep(100);
//System.Net.WebSockets.WebSocketException 一方关闭webSocket报错，未完成握手
}
public CompoundTerm DoAction(CompoundTerm action)
{
switch (action.Name)
{
case ("Tests"): return(null);
case ("StartPosition"):
xposition = 0;
TurtlesimPose messageP = new TurtlesimPose();
messageP.x = 0;
messageP.y = 0;
messageP.theta = 0;
messageP.angular_velocity = 0;
messageP.linear_velocity = 0;
rosSocket.Publish(publication_id, messageP);
return(null);
case ("MoveTurtle"):
GeometryTwist message = new GeometryTwist();
float speed = (float)action[0];
message.linear.x = speed;
rosSocket.Publish(publication_id, message);
return(null);
case ("Goal_Start"):
if (xposition > 0)
{
return(NModel.Terms.Action.Create("Goal_Finish"));
}
else
{
return(NModel.Terms.Action.Create("Goal_Failed"));
}
default: throw new Exception("Unexpected action " + action);
}
}
public void PublishStatus()
{
if (actionStatus == ActionStatus.NO_GOAL)
{
rosSocket.Publish(statusPublicationID, new GoalStatusArray());
}
else
{
rosSocket.Publish(statusPublicationID,
new GoalStatusArray
{
status_list = new GoalStatus[]
{
new GoalStatus {
status = (byte)actionStatus,
text = actionStatusText
}
}
}
);
}
}
void Update()
{
TUCtap = tapto.tap;
if (TUCtap == true) //ユーザカウントボタンが押されたら要求
{
counter = "whatNo";
message.data = counter;
rosSocket.Publish(advertise_id, message);
this.GetComponent <CreateUsersButton>().enabled = true;
tapto.tap = false;
TUCtap = false;
}
}
