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);
}
