public static void Main(string[] args) { string uri = "ws://192.168.56.102:9090"; RosBridgeClient.Protocols.WebSocketNetProtocol webSocketNetProtocol; RosSocket rosSocket; for (int i = 1; i < 3; i++) { webSocketNetProtocol = new RosBridgeClient.Protocols.WebSocketNetProtocol(uri); rosSocket = new RosSocket(webSocketNetProtocol); // Publication: UrdfImporter urdfImporter = new UrdfImporter(rosSocket, System.IO.Directory.GetCurrentDirectory()); urdfImporter.Import(); urdfImporter.Status["robotNameReceived"].WaitOne(); Console.WriteLine("Robot Name Received: " + urdfImporter.RobotName); urdfImporter.Status["robotDescriptionReceived"].WaitOne(); Console.WriteLine("Robot Description received... "); urdfImporter.Status["resourceFilesReceived"].WaitOne(); Console.WriteLine("Resource Files received " + urdfImporter.RequestedResourceFiles.Count); rosSocket.Close(); } Console.WriteLine("Press any key to close..."); Console.ReadKey(true); }
public static void Main(string[] args) { string uri = "ws://192.168.56.102:9090"; for (int i = 1; i < 3; i++) { RosBridgeClient.Protocols.WebSocketNetProtocol webSocketNetProtocol = new RosBridgeClient.Protocols.WebSocketNetProtocol(uri); RosSocket rosSocket = new RosSocket(webSocketNetProtocol); string urdfParameter = "/robot_description"; // Publication: UrdfTransferFromRos urdfTransferFromRos = new UrdfTransferFromRos(rosSocket, System.IO.Directory.GetCurrentDirectory(), urdfParameter); urdfTransferFromRos.Transfer(); urdfTransferFromRos.Status["robotNameReceived"].WaitOne(); Console.WriteLine("Robot Name Received: " + urdfTransferFromRos.RobotName); urdfTransferFromRos.Status["robotDescriptionReceived"].WaitOne(); Console.WriteLine("Robot Description received... "); urdfTransferFromRos.Status["resourceFilesReceived"].WaitOne(); Console.WriteLine("Resource Files received " + urdfTransferFromRos.FilesBeingProcessed.Count); rosSocket.Close(); } Console.WriteLine("Press any key to close..."); Console.ReadKey(true); }
public static void Main(string[] args) { //string uri = "ws://localhost:9090"; string uri = "ws://localhost:9090"; Console.WriteLine($"Trying to connect to RosBridge via {uri}"); try { for (int i = 1; i < 3; i++) { RosBridgeClient.Protocols.WebSocketNetProtocol webSocketNetProtocol = new RosBridgeClient.Protocols.WebSocketNetProtocol(uri); RosSocket rosSocket = new RosSocket(webSocketNetProtocol); string urdfParameter = "/robot_description"; // Publication: UrdfTransferFromRos urdfTransferFromRos = new UrdfTransferFromRos(rosSocket, System.IO.Directory.GetCurrentDirectory(), urdfParameter); urdfTransferFromRos.Transfer(); urdfTransferFromRos.Status["robotNameReceived"].WaitOne(); Console.WriteLine("Robot Name Received: " + urdfTransferFromRos.RobotName); urdfTransferFromRos.Status["robotDescriptionReceived"].WaitOne(); Console.WriteLine("Robot Description received... "); urdfTransferFromRos.Status["resourceFilesReceived"].WaitOne(); Console.WriteLine("Resource Files received " + urdfTransferFromRos.FilesBeingProcessed.Count); rosSocket.Close(); } } catch (Exception ex) { Console.WriteLine($"Failed to connect: {ex.Message}"); } Console.WriteLine("Press any key to close..."); Console.ReadKey(true); }