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.");
}
}
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 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);
}
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);
}
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 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 void Init()
{
#if UNITY_IOS //iOS doesn't connect to ros-sharp
#else
rosSocket = GetComponent <HSR_Connector>().RosSocket;
rosSocket.Subscribe("/tf", "tf2_msgs/TFMessage", UpdateTF, UpdateTime);
rosSocket.Subscribe("/global_pose", "geometry_msgs/PoseStamped", UpdatePosition, UpdateTime);
rosSocket.Subscribe("/current/hand_pose", "geometry_msgs/Pose", Buy_item, UpdateTime);
Topic_EventHandler?.Invoke(this, EventArgs.Empty);
#endif
}
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 Init()
{
rosSocket = GetComponent <RosConnector>().RosSocket;
//Topicを受け取ったら関数NoResが呼び出される
rosSocket.Subscribe("/countNo", "std_msgs/String", NoRes, UpdateTime);
}
public void Init()
{
rosSocket = GetComponent <RosConnector>().RosSocket;
Debug.Log("/myinfo" + MyInfoPub.ButtonNo);
//Topicを受け取ったら関数YourInfoが呼び出される
rosSocket.Subscribe("/myinfo" + MyInfoPub.ButtonNo, "detect_object/TransformInfo", Yourinfo, UpdateTime);
}
void Start()
{
GameObject Connector = GameObject.FindWithTag("Connector");
socket = Connector.GetComponent <RosConnector>()?.RosSocket;
string subscription_id = socket.Subscribe <msgs.DiagnosticArray>("/diagnostics", SubscriptionHandler);
}
public void Init()
{
rosSocket = GetComponent <RosConnector>().RosSocket;
//Topicを受け取ったら関数NuｍResが呼び出される
rosSocket.Subscribe("/shelfDB_" + idstr, "detect_object/DBinfo", NumRes, UpdateTime);
}
public void Init()
{
#if UNITY_IOS //iOS doesn't connect to ros-sharp
#else
rosSocket = GetComponent <HSR_Connector>().RosSocket;
rosSocket.Subscribe("/move_base/move/goal", "move_base_msgs/MoveBaseActionGoal", GetGoal, UpdateTime);
#endif
}
public void Config(RosSocket socket, Drone drone)
{
this.socket = socket;
this.drone = drone;
MeshHelper = new MeshHelper();
socket.Subscribe <TriangleMeshStamped>("/mesh_publisher/mesh_out", MeshHelper.GetSubscriptionHandler(), 1000);
}
// Start is called before the first frame update
void Start()
{
// WebSocket Connection:
rosSocket = new RosSocket(new RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol("ws://localhost:9090"));
// Subscription:
string subscription_id = rosSocket.Subscribe <std_msgs.String>("/subscription_test", SubscriptionHandler);
}
public void Init()
{
#if UNITY_IOS //iOS doesn't connect to ros-sharp
#else
rosSocket = GetComponent <HSR_Connector>().RosSocket;
rosSocket.Subscribe("/nrp_rosbridge_hsr_out", "std_msgs/String", UpdateState, UpdateTime);
#endif
}
void Init()
{
#if UNITY_IOS //iOS doesn't connect to ros-sharp
#else
rosSocket = GetComponent <HSR_Connector>().RosSocket;
rosSocket.Subscribe("/em/draw_position/array", "visualization_msgs/MarkerArray", GetSpaceName, UpdateTime);
#endif
}
public void Init()
{
Mynumber = CreateUsersButton.MyNo;
rosSocket = GetComponent <RosConnector>().RosSocket;
//Topicを受け取ったら関数YurInfoが呼び出される
rosSocket.Subscribe("/yourinfo" + Mynumber, "std_msgs/String", YourInfo, UpdateTime);
}
public void Init()
{
#if UNITY_IOS //iOS doesn't connect to ros-sharp
#else
//PathPlanをSubscribeする
rosSocket = GetComponent <HSR_Connector>().RosSocket;
rosSocket.Subscribe("/base_local_path", "nav_msgs/Path", GetPath, UpdateTime);
#endif
}
private void Start()
{
rosSocket = transform.GetComponent <RosConnector>().RosSocket;
rosSocket.Subscribe("/joint_states", "sensor_msgs/JointState", updateJointStates, UpdateTime);
jointStateManagers = FindObjectsOfType <JointStateManager>();
numberOfJoints = jointStateManagers.Length;
JointPositions = new float[numberOfJoints];
JointVelocities = new float[numberOfJoints];
}
public void SubscriptionTest()
{
string id = RosSocket.Subscribe <std_msgs.String>("/subscription_test", SubscriptionHandler);
OnMessageReceived.WaitOne();
OnMessageReceived.Reset();
RosSocket.Unsubscribe(id);
Thread.Sleep(100);
Assert.IsTrue(true);
}
// Start is called before the first frame update
void Start()
{
uiM = uIManagerGO.GetComponent <UIManager>();
rosSocket = new RosSocket(new RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol("ws://192.168.189.130:9090"));
rosBMSizeFit_Id = rosSocket.Advertise <bm_sfmsgs>("/bm_SizeFitChatter");
string rosBMMeasurements_Id = rosSocket.Subscribe <bm_msgs>("/bm_MeasurementsChatter", MeasurementsSubscriptionHandler);
//rosBMMeasurements_Id = rosSocket.Subscribe<bm_msgs>("/bm_MeasurementsChatter", MeasurementsSubscriptionHandler);
string rosBMImage_Id = rosSocket.Subscribe <bm_imsgs.Image>("/bm_ImagesChatter", ImageSubscriptionHandler);
//rosBMImage_Id = rosSocket.Subscribe<bm_imsgs.Image>("/bm_ImagesChatter", ImageSubscriptionHandler);
string rosBMFits_Id = rosSocket.Subscribe <bm_fmsgs>("/bm_FitsChatter", FitsSubscriptionHandler);
//change Pinda's chest color for test
//pindaChest.GetComponent<MeshRenderer>().material = blueMaterial;
changePindaColor(3, 3, 3);
}
/// <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");
}
/// <summary>
/// Adds a subscriber to the map
/// </summary>
/// <param name="name"></param>
/// <param name="topic"></param>
public void AddSubscriber <T>(string name, string topic, RosSocket socket, Action <T> callback) where T : Message, new()
{
SubscriptionHandler <T> handler = new SubscriptionHandler <T>(callback);
if (NameToTopicMap.ContainsKey(name) == false)
{
NameToTopicMap[name] = topic;
}
string subscriptionId = socket.Subscribe <T>(GetTopic(name), handler);
NameToSubscribeId[name] = subscriptionId;
}
IEnumerator Init(float delay = 0.0f)
{
if (delay != 0)
{
yield return(new WaitForSeconds(delay));
}
check_topic = false;
rosSocket = GameObject.Find(rosConnectorGameObjectName).GetComponent <RosConnector>().RosSocket;
if (rosSocket != null)
{
rosSocket.Subscribe <MarkerArray>(topic, SubscriptionHandler);
}
}
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);
//});
}
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", "");
}
private void timerConnectRosSocket_Tick(object sender, EventArgs e)
{
rosSocket.seturl("ws://" + props.cam.ip + ":" + props.cam.port);
if (rosSocket.isConnected)
{
int subscription_id = rosSocket.Subscribe("/pallet_status_" + props.cam.id, "std_msgs/String", subscriptionHandler);
timerConnectRosSocket.Stop();
timerCheckConnection.Start();
}
else
{
rosSocket.connect();
}
}
private void listen()
{
RosSocket rosSocket = new RosSocket("ws://192.168.1.125:9090");
//string subscription_id = rosSocket.Subscribe("odom", "nav_msgs/Odometry", subscriptionHandler);
string subscription_id = rosSocket.Subscribe("/amcl_pose", "geometry_msgs/PoseWithCovarianceStamped", subscriptionHandler);
Console.WriteLine("Press any key to close...");
while (true)
{
Thread.Sleep(10);
}
// rosSocket.Close();
}