public void Terminate()
{
rosSocket.Unadvertise(statusPublicationID);
rosSocket.Unadvertise(feedbackPublicationID);
rosSocket.Unadvertise(resultPublicationID);
rosSocket.Unsubscribe(cancelSubscriptionID);
rosSocket.Unsubscribe(goalSubscriptionID);
}
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 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 SubscriptionTest()
{
string id = RosSocket.Subscribe <std_msgs.String>("/subscription_test", SubscriptionHandler);
OnMessageReceived.WaitOne();
OnMessageReceived.Reset();
RosSocket.Unsubscribe(id);
Thread.Sleep(100);
Assert.IsTrue(true);
}
public void Dispose()
{
Container = null;
_socket?.Unsubscribe(_subscriptionId);
_socket = null;
}
