public ServiceReceiver(RosSocket rosSocket, string service, Tin parameter, object handlerParameter) { Service = service; ServiceParameter = parameter; HandlerParameter = handlerParameter; rosSocket.CallService <Tin, Tout>(Service, Receive, ServiceParameter); }
public ServiceReceiver(RosSocket rosSocket, string service, object parameter, object handlerParameter, Type responseType) { ServiceName = service; ServiceParameter = parameter; HandlerParameter = handlerParameter; rosSocket.CallService(ServiceName, responseType, receive, ServiceParameter); }
public void sendPTPCommand(MessageTypes.Dobot.SetPTPCmdRequest request) { RosSocket rosSocket = this.rosConnector.RosSocket; markerHandler.clearMarkers(); Debug.Log($"SendPTPCommand({request.ptpMode},{request.x},{request.y},{request.z},{request.r},{request.isQueued})"); rosSocket.CallService <MessageTypes.Dobot.SetPTPCmdRequest, MessageTypes.Dobot.SetPTPCmdResponse>(serviceName, responseHandler, request); }
public bool Import(int maxTimeOut = int.MaxValue) { rosSocket.CallService("/rosapi/get_param", typeof(ParamValueString), receiveRobotName, new ParamName("/robot/name")); ServiceReceiver robotDescriptionReceiver = new ServiceReceiver(rosSocket, "/rosapi/get_param", new ParamName("/robot_description"), "\\robot_description.urdf", typeof(ParamValueString)); robotDescriptionReceiver.ReceiveEventHandler += receiveRobotDescription; return(WaitHandle.WaitAll(Status.Values.ToArray(), maxTimeOut)); }
public void moveRail(int x) { //MessageTypes.Dobot.SetPTPLParamsRequest request=new MessageTypes.Dobot.SetPTPLParamsRequest(0.5f,0.5f,false); MessageTypes.Dobot.SetPTPWithLCmdRequest request = new MessageTypes.Dobot.SetPTPWithLCmdRequest(1, 217, 25, 175, 22, x, false); RosSocket.CallService <MessageTypes.Dobot.SetPTPWithLCmdRequest, MessageTypes.Dobot.SetPTPWithLCmdResponse> (ServiceEndpoint, handlerSetPTPWithLCmd, request); }
public void GetCurrentParams() { RosSocket.CallService <MessageTypes.Gazebo. GetPhysicsPropertiesRequest, MessageTypes.Gazebo. GetPhysicsPropertiesResponse>("/gazebo/get_physics_properties", physiscsCallback, new MessageTypes.Gazebo.GetPhysicsPropertiesRequest()); // end here as the response and the actual update will be ahandled by the callback }
public bool Import(int maxTimeOut = int.MaxValue) { rosSocket.CallService <rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param", ReceiveRobotName, new rosapi.GetParamRequest("/robot/name", "default")); var robotDescriptionReceiver = new ServiceReceiver <rosapi.GetParamRequest, rosapi.GetParamResponse>(rosSocket, "/rosapi/get_param", new rosapi.GetParamRequest("/robot_description", "default"), Path.DirectorySeparatorChar + "robot_description.urdf"); robotDescriptionReceiver.ReceiveEventHandler += ReceiveRobotDescription; return(WaitHandle.WaitAll(Status.Values.ToArray(), maxTimeOut)); }
public void CallServiceCloseHand(bool hand) { RosSocket.CallService <HandsControlRequest, HandsControlResponse>("nao_hands_control/close_hand", ServiceCallHandler, new HandsControlRequest(hand)); }