private void PublishturtleMessage(double linear, double angular)
{
try
{
string topic = "/turtle1/command_velocity";
string msgtype = "turtlesim/Velocity";
RosBridgeDotNet.RosBridgeDotNet.TurtleSim turtleGo1 = new RosBridgeDotNet.RosBridgeDotNet.TurtleSim(linear, angular);
RosBridgeDotNet.RosBridgeDotNet.PublishMessage m = new RosBridgeDotNet.RosBridgeDotNet.PublishMessage(topic, msgtype, turtleGo1);
string needToSend = JsonConvert.SerializeObject(m);
//Object objData = SerializeEventData(new EventData(richTextTxName.Text));
//byte[] byData = System.Text.Encoding.UTF8.GetBytes(objData.ToString());
if (_clientSocket != null)
{
_clientSocket.Send(new byte[] { 0 }); // \x00
_clientSocket.Send(Encoding.UTF8.GetBytes(needToSend));
_clientSocket.Send(new byte[] { 255 }); // \xff
}
}
catch (SocketException se)
{
MessageBox.Show(se.Message);
}
}
private void ButtonSendPublishMessage(object sender, EventArgs e)
{
try
{
string topic = "/turtle1/command_velocity";
string msgtype = "turtlesim/Velocity";
RosBridgeDotNet.RosBridgeDotNet.TurtleSim turtleGo1 = new RosBridgeDotNet.RosBridgeDotNet.TurtleSim(20, 20);
RosBridgeDotNet.RosBridgeDotNet.PublishMessage m = new RosBridgeDotNet.RosBridgeDotNet.PublishMessage(topic, msgtype, turtleGo1);
string needToSend = JsonConvert.SerializeObject(m);
richTextBoxHistroryRequests.Text += "\n \\\\\\\\\\\\\\ \n Request : " + needToSend; //save the request in history.
//Object objData = SerializeEventData(new EventData(richTextTxName.Text));
//byte[] byData = System.Text.Encoding.UTF8.GetBytes(objData.ToString());
if (m_clientSocket != null)
{
m_clientSocket.Send(new byte[] { 0 }); // \x00
m_clientSocket.Send(Encoding.UTF8.GetBytes(needToSend));
m_clientSocket.Send(new byte[] { 255 }); // \xff
}
}
catch (SocketException se)
{
MessageBox.Show(se.Message);
}
}
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();
}
