public void Terminate()
{
rosSocket.Unadvertise(statusPublicationID);
rosSocket.Unadvertise(feedbackPublicationID);
rosSocket.Unadvertise(resultPublicationID);
rosSocket.Unsubscribe(cancelSubscriptionID);
rosSocket.Unsubscribe(goalSubscriptionID);
}
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();
}
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();
}
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);
}
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
}
private void button13_Click(object sender, EventArgs e)
{
rosSocket.Unsubscribe(zm_robot_pose);
rosSocket.Unsubscribe(zm_robot_vel);
rosSocket.Unadvertise(zm_robot_vel_pub);
thr_subscriber.Abort();
rosSocket.Close();
label20.Text = "Disconection success.";
button1.Enabled = true;
button13.Enabled = false;
button14.Enabled = false;
}
public void PublicationTest()
{
string id = RosSocket.Advertise <std_msgs.String>("/publication_test");
std_msgs.String message = new std_msgs.String
{
data = "publication test message data"
};
try
{
RosSocket.Publish(id, message);
RosSocket.Unadvertise(id);
Thread.Sleep(100);
Assert.IsTrue(true);
}
catch (System.Exception)
{
Assert.IsTrue(false);
throw;
}
}
private void OnDestroy()
{
rosSocket.Unadvertise(publicationIdIIWA);
}
