public void Initialize()
{
cancelPublicationID = rosSocket.Advertise <GoalID>(actionName + "/cancel");
goalPublicationID = rosSocket.Advertise <TActionGoal>(actionName + "/goal");
statusSubscriptionID = rosSocket.Subscribe <GoalStatusArray>(actionName + "/status", StatusCallback, (int)(timeStep * 1000));
feedbackSubscriptionID = rosSocket.Subscribe <TActionFeedback>(actionName + "/feedback", FeedbackCallback, (int)(timeStep * 1000));
resultSubscriptionID = rosSocket.Subscribe <TActionResult>(actionName + "/result", ResultCallback, (int)(timeStep * 1000));
}
public void Start()
{
cancelPublicationID = socket.Advertise <GoalID>(actionName + "/cancel");
goalPublicationID = socket.Advertise <TActionGoal>(actionName + "/goal");
statusSubscriptionID = socket.Subscribe <GoalStatusArray>(actionName + "/status", StatusCallback, millisecondsTimestep);
feedbackSubscriptionID = socket.Subscribe <TActionFeedback>(actionName + "/feedback", FeedbackCallback, millisecondsTimestep);
resultSubscriptionID = socket.Subscribe <TActionResult>(actionName + "/result", ResultCallback, millisecondsTimestep);
}
void Start()
{
rosSocket = new RosSocket(new
RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol(uri)); // 10.189.42.225:9090
rosSocket.Advertise <std_msgs.String>("/chatter");
publication_id = rosSocket.Advertise <sensor_msgs.CompressedImage>("/test_image");
InvokeRepeating("Publish", 0, 1);
//Subscribe("/chatter");
}
public void connection(RosSocket rosSocket)
{
this.rosSocket = rosSocket;
int subscription_multirulestoserver = rosSocket.Subscribe("/multirulestoserver", "std_msgs/String", multirulestoserverHandler);
paramsRosSocket.publication_servertoMultirules = rosSocket.Advertise("/servertoMultirules", "std_msgs/String");
int subscription_trafficInfoResponse = rosSocket.Subscribe("/trafficInfoResponse", "std_msgs/String", trafficInfoResponseHandler);
paramsRosSocket.publication_trafficInfoRequest = rosSocket.Advertise("/trafficInfoRequest", "std_msgs/String");
}
public void Initialize()
{
statusPublicationID = rosSocket.Advertise <GoalStatusArray>(actionName + "/status");
feedbackPublicationID = rosSocket.Advertise <TActionFeedback>(actionName + "/feedback");
resultPublicationID = rosSocket.Advertise <TActionResult>(actionName + "/result");
cancelSubscriptionID = rosSocket.Subscribe <GoalID>(actionName + "/cancel", CancelCallback, (int)(timeStep * 1000));
goalSubscriptionID = rosSocket.Subscribe <TActionGoal>(actionName + "/goal", GoalCallback, (int)(timeStep * 1000));
UpdateAndPublishStatus(ActionStatus.NO_GOAL);
}
void InitTopics()
{
var forwardCommandSubscriber = socket.Subscribe <Float32>("/sparki/forward_command", ForwardCommand);
var turnCommandSubscriber = socket.Subscribe <Float32>("/sparki/turn_command", TurnCommand);
var turnSetServoSubscriber = socket.Subscribe <Int16>("/sparki/set_servo", SetServo);
addObstaclePublisher = socket.Advertise <String>("/game/add_obstacle");
removeObstaclePublisher = socket.Advertise <String>("/game/remove_obstacle");
Debug.Log("Topics initialized.");
}
public void Start()
{
statusPublicationID = socket.Advertise <GoalStatusArray>(actionName + "/status");
feedbackPublicationID = socket.Advertise <TActionFeedback>(actionName + "/feedback");
resultPublicationID = socket.Advertise <TActionResult>(actionName + "/result");
cancelSubscriptionID = socket.Subscribe <GoalID>(actionName + "/cancel", CancelCallback, millisecondsTimestep);
goalSubscriptionID = socket.Subscribe <TActionGoal>(actionName + "/goal", GoalCallback, millisecondsTimestep);
UpdateAndPublishStatus(ActionStatus.NO_GOAL);
}
public AsaUtilities(RosSocket rosSocket)
{
this.rosSocket = rosSocket;
createTfId = rosSocket.Advertise <AsaRelPoseStamped>("/mock_anchor_created");
foundTfId = rosSocket.Advertise <AsaRelPoseStamped>("/mock_anchor_found");
//Subscribe to found anchors
SubscriptionHandler <FoundAnchor> handler = new SubscriptionHandler <FoundAnchor>((foundAnchor) => {
foundAnchorEvent?.Invoke(this, new AnchorFoundEventArgs(foundAnchor));
});
rosSocket.Subscribe <FoundAnchor>("asa_ros/found_anchor", handler, 1, 5);
}
public static void Main(string[] args)
{
//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("publication test message 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"));
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...");
Console.ReadKey(true);
rosSocket.Unadvertise(publication_id);
rosSocket.Unsubscribe(subscription_id);
rosSocket.UnadvertiseService(service_id);
Console.WriteLine("Press any key to close...");
Console.ReadKey(true);
rosSocket.Close();
}
void Start()
{
GameObject Connector = GameObject.FindWithTag("Connector");
socket = Connector.GetComponent <RosConnector>()?.RosSocket;
publication_id = socket.Advertise <msgs.Geometry.Twist>("/cmd_vel");
}
private void button1_Click(object sender, EventArgs e)
{
uri = "ws://" + textBox1.Text + ":" + textBox2.Text;
try
{
Socket s = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
s.Connect(textBox1.Text, Convert.ToInt32(textBox2.Text));
rosSocket = new RosSocket(new RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol(uri));
zm_robot_pose = rosSocket.Subscribe <geometry.Pose2D>("/zm_robot_position", SubscriptionPositionHandler);
zm_robot_vel = rosSocket.Subscribe <geometry.Twist>("/cmd_vel", SubscriptionCmdVelHandler);
zm_robot_vel_pub = rosSocket.Advertise <geometry.Twist>("cmd_vel");
thr_subscriber = new Thread(LoopExecute_subscriber);
thr_publisher = new Thread(LoopExecute_publisher);
thr_subscriber.Start();
thr_publisher.Start();
label20.Text = "Success.";
button14.Enabled = true;
}
catch (SocketException ex)
{
label20.Text = "Failed.";
MessageBox.Show("Connnect failed, please check IP Address.");
}
catch (System.FormatException error)
{
label20.Text = "Failed.";
MessageBox.Show("Input IP incorrect, please input correct IP Address.");
}
}
void YISubscribe()
{
for (int i = 0; i < dbsub.cnt; i++) //受け取った座標を更新
{
px[i] = newPlane[i].gameObject.transform.localPosition.x;
py[i] = newPlane[i].gameObject.transform.localPosition.y;
pz[i] = newPlane[i].gameObject.transform.localPosition.z;
rx[i] = newPlane[i].gameObject.transform.localEulerAngles.x;
ry[i] = newPlane[i].gameObject.transform.localEulerAngles.y;
rz[i] = newPlane[i].gameObject.transform.localEulerAngles.z;
sx[i] = newPlane[i].gameObject.transform.localScale.x;
sy[i] = newPlane[i].gameObject.transform.localScale.y;
sz[i] = newPlane[i].gameObject.transform.localScale.z;
}
transI.image_num = dbsub.cnt;
transI.position_x = px;
transI.position_y = py;
transI.position_z = pz;
transI.rotation_x = rx;
transI.rotation_y = ry;
transI.rotation_z = rz;
transI.scale_x = sx;
transI.scale_y = sy;
transI.scale_z = sz;
transI.TimeB = dbsub.TimeB;
transI.TimeT = dbsub.TimeT;
Debug.Log(Mynumber);
//advertise_id = rosSocket.Advertise("/myinfo" + Mynumber, "detect_object/DBinfo");
advertise_id = rosSocket.Advertise("/myinfo" + Mynumber, "detect_object/TransformInfo");
rosSocket.Publish(advertise_id, transI);
yourinfo_check_topic = false;
}
public static void Main(string[] args)
{
//RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketSharpProtocol(uri));
RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(uri));
// Publication:
int ImageDataSize = 100;
sensor_msgs.CompressedImage image = new sensor_msgs.CompressedImage();
image.header.frame_id = "Test";
string publication_id = rosSocket.Advertise <sensor_msgs.CompressedImage>("/test_image");
Console.WriteLine("Press any key to start publication...");
Console.ReadKey(true);
for (int i = 0; i < 100000; i++)
{
image.header.seq += 1;
image.data = Enumerable.Repeat((byte)0x20, ImageDataSize).ToArray();
rosSocket.Publish(publication_id, image);
}
Console.WriteLine("Press any key to close...");
Console.ReadKey(true);
rosSocket.Unadvertise(publication_id);
rosSocket.Close();
}
public Spot(RosSocket socket)
{
rosSocket = socket;
publicationIds[topic_cmd_vel] =
rosSocket.Advertise <RosSharp.RosBridgeClient.MessageTypes.Geometry.Twist>(topic_cmd_vel);
}
public void Init()
{
GetComponent <Subscribe_semantic_image>().semantic_result += (sender, e) => semantic_result_arrived();
rosSocket = GetComponent <HSR_Connector>().RosSocket;
semantic_result_topic = GetComponent <Subscribe_semantic_image>();
advertise_id = rosSocket.Advertise("/image_hololens", "sensor_msgs/CompressedImage");
Debug.Log("ara:ROS Initation Finished");
}
void Start()
{
GameObject Connector = GameObject.FindWithTag("Connector");
socket = Connector.GetComponent <RosConnector>()?.RosSocket;
publication_id = socket.Advertise <std_msgs.String>("/speech");
message = new std_msgs.String();
say("Hallo, ich bin Mino. Du bist erfolgreich verbunden.");
}
private void AddCollisionObjects(string _object, float _centerX, float _centerY, float _centerZ, bool _useSpecialBoxGeometry = false)
{
CollisionObject collisionObjectMsg = CollisionObjectHandler.AddCollisionObject(_object, _centerX, _centerY, _centerZ, _useSpecialBoxGeometry);
// Publication:
string publicationID = rosSocket.Advertise <CollisionObject>("collision_object");
rosSocket.Publish(publicationID, collisionObjectMsg);
}
private void Start()
{
rosSocket = GetComponent <RosConnector>().RosSocket;
publicationIdIIWA = rosSocket.Advertise <jointPos_msg>(TopicIIWA);
OldTime = Time.time;
Flag = false;
c = 0;
}
void Start()
{
UserCountButton = GameObject.Find("UserCountButton");
tapto = UserCountButton.GetComponent <TapToFirst>();
rosSocket = GetComponent <RosConnector>().RosSocket;
//トピック名はusercount，型はString
advertise_id = rosSocket.Advertise("/usercount", "std_msgs/String");
counter = "whatNo";
message = new StandardString();
}
void Start()
{
sphere = GameObject.Find("UpdateBoard");
taptrigger = sphere.GetComponent <TapTrigger>();
rosSocket = GetComponent <RosConnector>().RosSocket;
advertise_id = rosSocket.Advertise("/chatter", "std_msgs/String");
moji = "true";
message = new StandardString();
}
public void PublicationTest()
{
string id = RosSocket.Advertise <std_msgs.String>("/publication_test");
std_msgs.String message = new std_msgs.String("publication test message data");
RosSocket.Publish(id, message);
RosSocket.Unadvertise(id);
Thread.Sleep(100);
Assert.IsTrue(true);
}
// Update is called once per frame
void Update()
{
rosSocketIsAlive = rosSocket.protocol.IsAlive();
// Publication:
string publication_id = rosSocket.Advertise <std_msgs.String>("publication_test");
std_msgs.String message = new std_msgs.String();
message.data = "publication test message data";
rosSocket.Publish(publication_id, message);
}
private void btnForward_Click(object sender, EventArgs e)
{
string id = RosSocket.Advertise <Twist>("/cmd_vel");
Vector3 linear = new Vector3(0.5, 0.0, 0.0);
Vector3 angular = new Vector3(0.0, 0.0, 0.0);
Twist forward = new Twist(linear, angular);
RosSocket.Publish(id, forward); //发布
RosSocket.Unadvertise(id); //取消发布
Thread.Sleep(100);
//System.Net.WebSockets.WebSocketException 一方关闭webSocket报错，未完成握手
}
/// <summary>
/// Sets up the publishers and subscribers for the state and position commanding
/// </summary>
/// <param name="rosSocket"></param>
private void SetupPublisherAndSubscribers(RosSocket rosSocket)
{
if (rosSocket == null)
{
return;
}
SubscriptionHandler <Odometry> subscriptionHandler = new SubscriptionHandler <Odometry>((o) => ExecuteOnUpdate(() => ReportNewAsaRelPose(o)));
rosSocket.Subscribe <Odometry>("/odometry/filtered/asa_relative", subscriptionHandler);
anchored_goal_publishing_id = rosSocket.Advertise <AsaRelPoseStamped>("/anchored_goal");
}
// Publish string to ROS
public void PublishString(string topic, string msg)
{
// Create new standard string and set its data to msg
std_msgs.String message = new std_msgs.String {
data = msg
};
string publicationId = rosSocket.Advertise <std_msgs.String>(topic); // Topic must be in "/topic" format
rosSocket.Publish(publicationId, message);
Debug.Log("Sent:" + msg);
}
void Start()
{
string urlPath = Application.persistentDataPath + "/simunity.txt";
Debug.Log($"Reading websocket URL from {urlPath}");
if (!File.Exists(urlPath))
{
using (StreamWriter writer = File.CreateText(urlPath))
{
writer.Write("ws://localhost:9090");
}
}
string url = File.ReadAllText(urlPath);
m_RosConnector = new RosConnector
{
Protocol = RosConnector.Protocols.WebSocketNET,
RosBridgeServerUrl = url
};
m_RosConnector.Awake();
while (m_RosConnector.RosSocket == null)
{
}
m_Socket = m_RosConnector.RosSocket;
m_Socket.Subscribe <ArmMotorCommand>("/arm_control_data", msg =>
{
for (int i = 0; i < 6; i++)
{
Debug.Log($"Velocity output of motor #{i} is {msg.MotorVel[i]}");
}
});
lidarSensor = GameObject.Find("Lidar").GetComponent <LidarSensor>();
m_Socket.Advertise <LidarData>("/LidarData");
//m_Socket.Advertise<ProcessedControllerInput>("/processed_arm_controller_input");
//m_Socket.Advertise<WheelSpeed>("/WheelSpeed");
//m_Socket.Advertise<WheelSpeed>("/TestTopic");
//m_Socket.Subscribe<WheelSpeed>("/WheelSpeed", speed =>
//{
// Debug.Log(speed.Wheel_Speed[0]);
// Debug.Log(speed.Wheel_Speed[1]);
//});
//m_Socket.Subscribe<Int32>("/TestTopic", num =>
//{
// //Debug.Log(num.Wheel_Speed);
//});
}
// Use this for initialization
void Start()
{
// Grab the original local position
//originalPosition = this.transform.localPosition;
ros = new RosSocket("ws://192.168.1.140:9090");
publication_id = ros.Advertise("/CHOICE", "std_msgs/String");
while (i > 0.0f)
{
//publication_id = ros.Advertise("/CHOICE", "std_msgs/String");
i -= Time.deltaTime;
//publishn();
}
//publishn();
}
private static void DoWork()
{
string uri = "ws://localhost:9090";
Console.WriteLine($"Trying to connect to RosBridge via {uri}");
RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol webSocketNetProtocol = new RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol(uri);
var protocol = RosSharp.RosBridgeClient.Protocols.ProtocolInitializer.GetProtocol(RosSharp.RosBridgeClient.Protocols.Protocol.WebSocketNET, uri);
protocol.OnConnected += OnConnected;
protocol.OnClosed += OnClosed;
rosSocket = new RosSocket(protocol, RosSocket.SerializerEnum.Newtonsoft_JSON);
rosSocket.Subscribe <Clock>("/clock", ReceiveMessage, 1000);
publishId = rosSocket.Advertise <Clock>("/customTopic_clock");
//rosSocket.Subscribe<RosSharp.RosBridgeClient.MessageTypes.Std.String>("/clock", ReceiveMessage);
}
public BodyMeasurements()
{
rosSocket = new RosSocket(new RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol(uri));
rosBMMeasurements_Id = rosSocket.Advertise <bm_msgs.bm_message>("/bm_MeasurementsChatter");
rosBMImage_Id = rosSocket.Advertise <bm_imsgs.Image>("/bm_ImagesChatter");
rosBMFits_Id = rosSocket.Advertise <bm_msgs.bm_fits>("/bm_FitsChatter");
string rosBMSizeFit_Id = rosSocket.Subscribe <bm_msgs.bm_sizefit>("/bm_SizeFitChatter", SizeFitSubscriptionHandler);
//rosBMSizeFit_Id = rosSocket.Subscribe<bm_msgs.bm_sizefit>("/bm_SizeFitChatter", SizeFitSubscriptionHandler);
InitializeComponent();
_sensor = KinectSensor.GetDefault();
if (_sensor != null)
{
_sensor.Open();
_reader = _sensor.OpenMultiSourceFrameReader(FrameSourceTypes.BodyIndex | FrameSourceTypes.Color | FrameSourceTypes.Depth | FrameSourceTypes.Infrared | FrameSourceTypes.Body);
_reader.MultiSourceFrameArrived += Reader_MultiSourceFrameArrived;
}
}
void Start()
{
WorldEditorID = GameObject.Find("WorldEditor");
iddecision = WorldEditorID.GetComponent <IDdecision>();
holoid = iddecision.ids;
sphere = GameObject.Find("PressableButtonHoloLens2");
taptrigger = sphere.GetComponent <TapTrigger>();
rosSocket = GetComponent <RosConnector>().RosSocket;
//トピック名はchatter,型はString
advertise_id = rosSocket.Advertise("/chatter", "std_msgs/String");
moji = "trues";
message = new StandardString();
}
