public override void Initialise(ROSBridgeWebSocketConnection rosBridge) { base.Initialise(rosBridge); _rosLocomotionDirect = new ROSLocomotionDirect(ROSAgent.AgentJob.Publisher, rosBridge, "/cmd_vel"); _rosLocomotionState = new ROSGenericPublisher(rosBridge, "/waypoint/robot_state", StringMsg.GetMessageType()); _rosLocomotionWaypoint = new ROSLocomotionWaypoint(ROSAgent.AgentJob.Subscriber, rosBridge, "/waypoint"); _rosLocomotionWaypoint.OnDataReceived += ReceivedWaypoint; _rosLocomotionWaypointState = new ROSLocomotionWaypointState(ROSAgent.AgentJob.Subscriber, rosBridge, "/waypoint/state"); _rosLocomotionWaypointState.OnDataReceived += ReceivedNavigationState; _rosLocomotionControlParams = new ROSLocomotionControlParams(ROSAgent.AgentJob.Subscriber, rosBridge, "/waypoint/control_parameters"); _rosLocomotionControlParams.OnDataReceived += ReceivedNavigationParameters; _rosLocomotionAngular = new ROSGenericSubscriber <Float32Msg>(rosBridge, "/waypoint/max_angular_speed", Float32Msg.GetMessageType(), (msg) => new Float32Msg(msg)); _rosLocomotionAngular.OnDataReceived += ReceivedNavigationAngularSpeedParameter; _rosLocomotionLinear = new ROSGenericSubscriber <Float32Msg>(rosBridge, "/waypoint/max_linear_speed", Float32Msg.GetMessageType(), (msg) => new Float32Msg(msg)); _rosLocomotionLinear.OnDataReceived += ReceivedNavigationLinearSpeedParameter; }
protected override void StartROS() { Debug.Log("Started ROS"); Debug.Log(_rosBridge); _rosLocomotionDirect = new ROSLocomotionDirect(ROSAgent.AgentJob.Subscriber, _rosBridge, "/cmd_vel"); _rosLocomotionDirect.OnDataReceived += ReceivedLocomotionDirectUpdate; _rosJoystick = new ROSGenericSubscriber <TwistMsg>(_rosBridge, "/teleop_velocity_smoother/raw_cmd_vel", TwistMsg.GetMessageType(), (msg) => new TwistMsg(msg)); _rosJoystick.OnDataReceived += ReceivedJoystickUpdate; //odometry subscriber is not needed for the virtual robot //_rosOdometrySubscriber = new ROSGenericSubscriber<OdometryMsg>(_rosBridge, "/odom", OdometryMsg.GetMessageType(), (msg) => new OdometryMsg(msg)); //_rosOdometrySubscriber.OnDataReceived += ReceivedOdometryUpdate; //odometry publisher _rosOdometry = new ROSGenericPublisher(_rosBridge, "/odom", OdometryMsg.GetMessageType()); //robot_gps_pose publisher _rosOdometryGPSPose = new ROSGenericPublisher(_rosBridge, "/robot_gps_pose", OdometryMsg.GetMessageType()); //odo_calib_pose publisher _rosOdometryOverride = new ROSGenericPublisher(_rosBridge, "/odo_calib_pose", OdometryMsg.GetMessageType()); _transformUpdateCoroutine = StartCoroutine(SendTransformUpdate(_publishInterval)); _rosLocomotionWaypointState = new ROSLocomotionWaypointState(ROSAgent.AgentJob.Publisher, _rosBridge, "/waypoint/state"); _rosLocomotionWaypoint = new ROSLocomotionWaypoint(ROSAgent.AgentJob.Publisher, _rosBridge, "/waypoint"); _rosLocomotionLinear = new ROSGenericPublisher(_rosBridge, "/waypoint/max_linear_speed", Float32Msg.GetMessageType()); _rosLocomotionAngular = new ROSGenericPublisher(_rosBridge, "/waypoint/max_angular_speed", Float32Msg.GetMessageType()); _rosLocomotionControlParams = new ROSLocomotionControlParams(ROSAgent.AgentJob.Publisher, _rosBridge, "/waypoint/control_parameters"); _rosLogger = new ROSGenericPublisher(_rosBridge, "/debug_output", StringMsg.GetMessageType()); _rosLocomotionLinear.PublishData(new Float32Msg(RobotConfig.MaxLinearSpeed)); _rosLocomotionAngular.PublishData(new Float32Msg(RobotConfig.MaxAngularSpeed)); _rosLocomotionControlParams.PublishData(RobotConfig.LinearSpeedParameter, RobotConfig.RollSpeedParameter, RobotConfig.PitchSpeedParameter, RobotConfig.AngularSpeedParameter); }
/* * private void HandleImage(ROSAgent sender, CompressedImageMsg compressedImage, CameraInfo info) * { * lock (_cameraDataToConsume) * { * _cameraInfoToConsume = info; * _cameraDataToConsume = compressedImage; * _hasCameraDataToConsume = true; * } * }*/ protected override void StartROS() { _rosLocomotionDirect = new ROSLocomotionDirect(ROSAgent.AgentJob.Publisher, _rosBridge, "/cmd_vel"); _rosLocomotionWaypoint = new ROSLocomotionWaypoint(ROSAgent.AgentJob.Publisher, _rosBridge, "/waypoint"); _rosLocomotionWaypointState = new ROSLocomotionWaypointState(ROSAgent.AgentJob.Publisher, _rosBridge, "/waypoint/state"); _rosLocomotionControlParams = new ROSLocomotionControlParams(ROSAgent.AgentJob.Publisher, _rosBridge, "/waypoint/control_parameters"); _rosLocomotionLinear = new ROSGenericPublisher(_rosBridge, "/waypoint/max_linear_speed", Float32Msg.GetMessageType()); _rosLocomotionAngular = new ROSGenericPublisher(_rosBridge, "/waypoint/max_angular_speed", Float32Msg.GetMessageType()); _rosOdometryOverride = new ROSGenericPublisher(_rosBridge, "/odo_calib_pose", OdometryMsg.GetMessageType()); _rosReset = new ROSGenericPublisher(_rosBridge, "arlobot/reset_motorBoard", BoolMsg.GetMessageType()); _rosLogger = new ROSGenericPublisher(_rosBridge, "/debug_output", StringMsg.GetMessageType()); _rosUltrasound = new ROSGenericSubscriber <StringMsg>(_rosBridge, "/ultrasonic_data", StringMsg.GetMessageType(), (msg) => new StringMsg(msg)); _rosUltrasound.OnDataReceived += ReceivedUltrasoundUpdata; _rosOdometry = new ROSGenericSubscriber <OdometryMsg>(_rosBridge, "/robot_gps_pose", OdometryMsg.GetMessageType(), (msg) => new OdometryMsg(msg)); _rosOdometry.OnDataReceived += ReceivedOdometryUpdate; _maxLinearSpeed = RobotConfig.MaxLinearSpeed; _maxAngularSpeed = RobotConfig.MaxAngularSpeed; _rosLocomotionLinear.PublishData(new Float32Msg(_maxLinearSpeed)); _rosLocomotionAngular.PublishData(new Float32Msg(_maxAngularSpeed)); _rosLocomotionControlParams.PublishData(RobotConfig.LinearSpeedParameter, RobotConfig.RollSpeedParameter, RobotConfig.PitchSpeedParameter, RobotConfig.AngularSpeedParameter); }