static void Main(string[] args)
{
////////////////////////
////'/DriveCommands', 'neo_serrelayboard/DriveCommas', '{"angularVelocity":[0.1,0.1],"driveActive":[1,1],"quickStop":[0,0],"disableBrake":[1,1]}'
RosBridgeDotNet.RosBridgeDotNet kapcs = new RosBridgeDotNet.RosBridgeDotNet("10.2.5.194");
string topic = "/DriveCommands";
string msgtype = "neo_serrelayboard/DriveCommands";
double[] sebesseg = { 0.0, 0.0 };
bool[] igaz = { true, true };
bool[] hamis = { false, false };
//RosBridgeDotNet.RosBridgeDotNet.FreeString = new RosBridgeDotNet.RosBridgeDotNet.FreeString();
RosBridgeDotNet.RosBridgeDotNet.Neobotix neo = new RosBridgeDotNet.RosBridgeDotNet.Neobotix(sebesseg, igaz, hamis, igaz);
Console.WriteLine(kapcs.Connected ? "Kapcsolodva." : "Sikertelen kapcs.");
Console.ReadKey();
//kapcs.Subscribe();
kapcs.Publish(topic, msgtype, neo);
Console.ReadKey();
kapcs.CloseConnection();
////////////////////////
////'/turtle1/command_velocity', 'turtlesim/Velocity', '{"linear":1, "angular":0}'
//RosBridgeDotNet.RosBridgeDotNet r = new RosBridgeDotNet.RosBridgeDotNet("10.2.5.194");
//string receiver = "/turtle1/command_velocity";
//string type = "turtlesim/Velocity";
//RosBridgeDotNet.RosBridgeDotNet.TurtleSim turtle = new RosBridgeDotNet.RosBridgeDotNet.TurtleSim(1.8, 0.5);
//Console.WriteLine(r.Connected ? "Connected" : "Not connected.");
//Console.ReadKey();
////rostopic pub -1 /turtle1/command_velocity turtlesim/Velocity -- 1 0
//r.Publish(receiver, type, turtle);
//turtle.linear = 1;
//Console.WriteLine("1");
//Console.ReadKey();
//r.Publish(receiver, type, turtle);
//Console.WriteLine("2");
//Console.ReadKey();
//r.Publish(receiver, type, turtle);
//r.CloseConnection();
//Console.WriteLine("Closed");
}
static void Main(string[] args)
{
RosBridgeDotNet.RosBridgeDotNet turtleConnection = new RosBridgeDotNet.RosBridgeDotNet("10.2.230.124");
string topic = "/turtle1/command_velocity";
string msgtype = "turtlesim/Velocity";
Console.WriteLine(turtleConnection.Connected ? "Connected." : "No connection :(");
if (turtleConnection.Connected)
{
////'/turtle1/command_velocity', 'turtlesim/Velocity', '{"linear":20, "angular":20}'
RosBridgeDotNet.RosBridgeDotNet.TurtleSim turtleGo1 = new RosBridgeDotNet.RosBridgeDotNet.TurtleSim(20, 20);
turtleConnection.Publish(topic, msgtype, turtleGo1);
//Console.WriteLine("Published: " + topic + " " + msgtype + " " + turtleGo1.linear + " " + turtleGo1.angular);
//turtleConnection.Subscribe();
turtleConnection.CloseConnection();
Console.WriteLine("Connection closed, press a key.");
}
else
{
Console.WriteLine("End.");
}
Console.ReadKey();
}
