public void Setup()
{
RosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(Uri));
}
// Start is called before the first frame update
void Start()
{
this.RosSocket = this.RosConnector.RosSocket;
}
// Start is called before the first frame update
void Start()
{
// Subscribe once to joint_states ROS topic for raven2 robot
rosSocket = GameObject.Find("ROSConnection").GetComponent <ROSConnection>().getRosSocket();
string subscription_id = rosSocket.Subscribe <sensor_msgs.JointState>("/joint_states", JointStateHandler);
}
public void Awake()
{
RosSocket = new RosSocket(RosBridgeServerUrl);
Debug.Log("Connected to RosBridge: " + RosBridgeServerUrl);
}
void Update()
// public static void Main(string[] args)
{
if (help == true)
{
help = false;
//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
{
data = "publication test masdasdessage 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"));
// Service Response:
string service_id = rosSocket.AdvertiseService <std_srvs.TriggerRequest, std_srvs.TriggerResponse>("/service_response_test", ServiceResponseHandler);
//Console.WriteLine("Press any key to unsubscribe...");
Debug.Log("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...");
Debug.Log("Press any key to close...");
//Console.ReadKey(true);
rosSocket.Close();
help = true;
}
}
public ServiceReceiver(RosSocket rosSocket, string service, Tin parameter, object handlerParameter)
{
ServiceParameter = parameter;
HandlerParameter = handlerParameter;
rosSocket.CallService <Tin, Tout>(service, Receive, ServiceParameter);
}
// Use this for initialization
void Start()
{
rosSocket = GameObject.Find("drone").GetComponent <RosConnector>().RosSocket;
droneBody = GameObject.Find("drone").GetComponent <Rigidbody>();
publication_id = rosSocket.Advertize("drone/gps", "sensor_msgs/NavSatFix");
}
public void Init()
{
rosSocket = GetComponent <HSR_Connector>().RosSocket;
rosSocket.Subscribe("/yolo_object_coordinate", "visualization_msgs/MarkerArray", Yolo_Res, UpdateTime);
}
public OdometryHandler(ISourceTree container, RosSocket socket, string topic) : base(
container, socket, topic)
{
}
void Start()
{
GameObject Connector = GameObject.FindWithTag("Connector");
socket = Connector.GetComponent <RosConnector>()?.RosSocket;
}
