// Update is called once per frame
private void OnDestroy()
{
// Close any existing connection
if (status == Status.SUCCESS)
{
rosSocket.Close();
}
}
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);
}
private void ImportAssets()
{
if (!statusEvents["connected"].WaitOne(timeout * 1000))
{
Debug.LogWarning("Failed to connect to ROS before timeout");
return;
}
// setup urdfImporter
RosBridgeClient.UrdfImporter urdfImporter = new RosBridgeClient.UrdfImporter(rosSocket, assetPath);
statusEvents["robotNameReceived"] = urdfImporter.Status["robotNameReceived"];
statusEvents["robotDescriptionReceived"] = urdfImporter.Status["robotDescriptionReceived"];
statusEvents["resourceFilesReceived"] = urdfImporter.Status["resourceFilesReceived"];
urdfImporter.Import();
if (statusEvents["robotNameReceived"].WaitOne(timeout * 1000))
{
robotName = urdfImporter.RobotName;
localDirectory = urdfImporter.LocalDirectory;
}
// import URDF assets:
if (statusEvents["resourceFilesReceived"].WaitOne(timeout * 1000))
{
Debug.Log("Imported urdf resources to " + urdfImporter.LocalDirectory);
}
else
{
Debug.LogWarning("Not all resource files have been received before timeout.");
}
rosSocket.Close();
}
public static void Main(string[] args)
{
//RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketSharpProtocol(uri));
rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(uri));
// Initialize server
fibonacciActionServer = new FibonacciActionServer(actionName, rosSocket, new Log(x => Console.WriteLine(x)));
fibonacciActionServer.Initialize();
// Run server and wait for goal
isWaitingForGoal.Set();
Console.WriteLine("Waiting for goal");
Thread waitForGoal = new Thread(WaitForGoal);
waitForGoal.Start();
Console.WriteLine("\nPress any key to stop server...");
Console.ReadKey(true);
isWaitingForGoal.Reset();
waitForGoal.Join();
fibonacciActionServer.Terminate();
// End of console example
Console.WriteLine("\nPress any key to close...");
Console.ReadKey(true);
rosSocket.Close();
}
private void rosSocketConnect()
{
// intialize
foreach (ManualResetEvent manualResetEvent in status.Values)
{
manualResetEvent.Reset();
}
// connectto ROSbridge
RosSocket rosSocket = new RosSocket(address);
status["connected"].Set();
// setup urdfImporter
urdfImporter = new UrdfImporter(rosSocket, urdfAssetPath);
status["robotNameReceived"] = urdfImporter.Status["robotNameReceived"];
status["robotDescriptionReceived"] = urdfImporter.Status["robotDescriptionReceived"];
status["resourceFilesReceived"] = urdfImporter.Status["resourceFilesReceived"];
urdfImportThread = new Thread(() => urdfImporter.Import());
urdfImportThread.Start();
// import URDF assets:
if (status["resourceFilesReceived"].WaitOne(int.Parse(timeout) * 1000))
{
Debug.Log("Imported urdf resources to " + urdfImporter.LocalDirectory);
}
else
{
Debug.LogWarning("Not all resource files have been received before timeout.");
}
// close the ROSBridge socket
rosSocket.Close();
status["disconnected"].Set();
}
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();
}
public virtual void OnDisable()
{
if (RosSocket != null)
{
RosSocket.Close();
}
}
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);
}
// on ROS system:
// launch before starting:
// roslaunch file_server ros_sharp_communication.launch
// launch after starting:
// roslaunch file_server visualize_robot.launch
public static void Main(string[] args)
{
string uri = "ws://192.168.56.102:9090";
string robotDescription = Path.Combine(Directory.GetCurrentDirectory(), "..", "..", "TestUrdf", "R2D2WithTexture.urdf");
WebSocketNetProtocol webSocketNetProtocol = new WebSocketNetProtocol(uri);
RosSocket rosSocket = new RosSocket(webSocketNetProtocol);
// Publication:
UrdfTransferToRos transferor = new UrdfTransferToRos(rosSocket, "Robot", robotDescription, "test_package");
transferor.Transfer();
transferor.Status["robotNamePublished"].WaitOne();
Console.WriteLine("Robot Name Published: " + transferor.RobotName);
transferor.Status["robotDescriptionPublished"].WaitOne();
Console.WriteLine("Robot Description received... ");
transferor.Status["resourceFilesSent"].WaitOne();
Console.WriteLine("Resource Files sent: " + transferor.FilesBeingProcessed.Count);
Console.WriteLine("Press any key to close...");
Console.ReadKey(true);
rosSocket.Close();
}
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();
}
private void rosSocketConnect()
{
// initialize
foreach (ManualResetEvent manualResetEvent in status.Values)
{
manualResetEvent.Reset();
}
// connect to rosbrige_suite:
RosBridgeClient.Protocols.IProtocol protocol = GetProtocol();
RosSocket rosSocket = new RosSocket(protocol);
CheckConnection(protocol);
if (!status["connected"].WaitOne(0))
{
rosSocket.Close();
return;
}
// setup urdfImporter
RosBridgeClient.UrdfImporter urdfImporter = new RosBridgeClient.UrdfImporter(rosSocket, assetPath);
status["robotNameReceived"] = urdfImporter.Status["robotNameReceived"];
status["robotDescriptionReceived"] = urdfImporter.Status["robotDescriptionReceived"];
status["resourceFilesReceived"] = urdfImporter.Status["resourceFilesReceived"];
urdfImporter.Import();
if (status["robotNameReceived"].WaitOne(timeout * 1000))
{
robotName = urdfImporter.RobotName;
localDirectory = urdfImporter.LocalDirectory;
}
// import URDF assets:
if (status["resourceFilesReceived"].WaitOne(timeout * 1000))
{
Debug.Log("Imported urdf resources to " + urdfImporter.LocalDirectory);
}
else
{
Debug.LogWarning("Not all resource files have been received before timeout.");
}
status["disconnected"].Set();
rosSocket.Close();
}
public void Terminate()
{
/*
* TERMINATE CLIENT
*/
moveGroupActionClient.Terminate();
rosSocket.Close();
}
private void Page_Unloaded(object sender, RoutedEventArgs e)
{
if (_reader != null)
{
_reader.Dispose();
}
if (_sensor != null)
{
_sensor.Close();
}
rosSocket.Close();
}
private void button13_Click(object sender, EventArgs e)
{
rosSocket.Unsubscribe(zm_robot_pose);
rosSocket.Unsubscribe(zm_robot_vel);
rosSocket.Unadvertise(zm_robot_vel_pub);
thr_subscriber.Abort();
rosSocket.Close();
label20.Text = "Disconection success.";
button1.Enabled = true;
button13.Enabled = false;
button14.Enabled = false;
}
public static void Main(string[] args)
{
//RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketSharpProtocol(uri));
for (int i = 0; i < 2; i++)
{
RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(uri));
UrdfImporter urdfImporter = new UrdfImporter(rosSocket, System.IO.Directory.GetCurrentDirectory().ToString());
urdfImporter.Import();
Console.WriteLine("Press any key to close...");
Console.ReadKey(true);
rosSocket.Close();
}
}
public static void Main(string[] args)
{
//RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketSharpProtocol(uri));
rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(uri));
// Initialize Client
fibonacciActionClient = new FibonacciActionClient(actionName, rosSocket);
fibonacciActionClient.Initialize();
// Send goal
Console.WriteLine("\nPress any key to send goal with fibonacci order 5...");
Console.ReadKey(true);
fibonacciActionClient.fibonacciOrder = 5;
fibonacciActionClient.SendGoal();
// Get feedback, status and result
do
{
Console.WriteLine(fibonacciActionClient.GetFeedbackString());
Console.WriteLine(fibonacciActionClient.GetStatusString());
Thread.Sleep(100);
} while (fibonacciActionClient.goalStatus.status != GoalStatus.SUCCEEDED);
Thread.Sleep(500);
Console.WriteLine(fibonacciActionClient.GetResultString());
Console.WriteLine(fibonacciActionClient.GetStatusString());
// Cancel goal
Console.WriteLine("\nPress any key to send goal with fibonacci order 50...");
Console.ReadKey(true);
fibonacciActionClient.fibonacciOrder = 50;
fibonacciActionClient.SendGoal();
Console.WriteLine("\nPress any key to cancel the goal...");
Console.ReadKey(true);
fibonacciActionClient.CancelGoal();
Thread.Sleep(1000);
Console.WriteLine(fibonacciActionClient.GetResultString());
Console.WriteLine(fibonacciActionClient.GetFeedbackString());
Console.WriteLine(fibonacciActionClient.GetStatusString());
// Terminate client
fibonacciActionClient.Terminate();
// End of console example
Console.WriteLine("\nPress any key to close...");
Console.ReadKey(true);
rosSocket.Close();
}
public void ShouldImportFilesDirectly()
{
string uri = "ws://localhost:9090";
RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol webSocketNetProtocol = new RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol(uri);
RosSocket rosSocket = new RosSocket(webSocketNetProtocol);
string urdfParameter = "/robot_description";
string t = JsonConvert.SerializeObject(rosSocket);
// Publication:
UrdfTransferFromRos urdfTransferFromRos = new UrdfTransferFromRos(rosSocket, System.IO.Directory.GetCurrentDirectory(), urdfParameter);
//urdfTransferFromRos.Transfer();
urdfTransferFromRos.RobotName = "UR3";
urdfTransferFromRos.ImportResourceFiles(UrdfTests.Properties.Resources.xmlUr5);
urdfTransferFromRos.Status["resourceFilesReceived"].WaitOne();
Console.WriteLine("Resource Files received " + urdfTransferFromRos.FilesBeingProcessed.Count);
rosSocket.Close();
}
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);
}
internal void connect()
{
if (rosSocket != null)
{
rosSocket.Close();
rosSocket = null;
}
rosWebSocketProtocol = new RosSharp.RosBridgeClient.Protocols.WebSocketUWPProtocol(uri);
// Todo refactor the async connector.
rosSocket = new RosSocket(rosWebSocketProtocol);
imageSubId = rosSocket.Subscribe <sensor_msgs.Image>("/tracked_objects/image", SubscriptionHandler);
logSubId = rosSocket.Subscribe <rosgraph.Log>("/rosout", LogSubscriptionHandler);
trackedSubId = rosSocket.Subscribe <DetectedObjectPose>("/detected_object", DetectedSubscriptionHandler);
commandPubId = rosSocket.Advertise <std_msgs.RosInt32>("/goto");
dispatcherTimer.Tick += DispatcherTimer_Tick;
dispatcherTimer.Interval = new TimeSpan(0, 0, 3);
dispatcherTimer.Start();
UpdateCurrentTask("Connected", "");
}
public void TearDown()
{
RosSocket.Close();
}
public void Stop()
{
socket.Close(millisecondsTimestep);
}
void OnDestroy()
{
// Close ROS socket connection
rosSocket.Close();
}
