private void StopRos(int runNumber)
{
Logger.LogInformation($"Stop ROS #{runNumber}");
spinner.Stop();
var shutdownTask = ROS.Shutdown();
shutdownTask.Wait();
Logger.LogInformation("Stopped");
}
public void Shutdown()
{
if (subscriber != null)
{
subscriber.Shutdown();
subscriber = null;
}
if (nodeHandle != null)
{
nodeHandle.Shutdown();
nodeHandle = null;
}
ROS.Shutdown();
}
static void Main(string[] args)
{
Console.WriteLine("Start roscore and ActionServerTesbed.lua and press any key");
while (!Console.KeyAvailable)
{
Thread.Sleep(1);
}
Console.WriteLine("Start ROS");
ROS.ROS_MASTER_URI = "http://rosvita:11311";
ROS.Init(new string[0], "ActionClient");
(new Program()).Start(1000);
//(new TestActionServerKill()).Start(5);
Thread.Sleep(10000);
ROS.Shutdown();
}
private static void Main(string[] args)
{
Trace.Listeners.Add(new TextWriterTraceListener(Console.Out));
ROS.Init(args, "Talker");
var spinner = new SingleThreadSpinner();
NodeHandle node = new NodeHandle();
Publisher <std_msgs.String> Talker = node.Advertise <std_msgs.String>("/chatter", 1);
int count = 0;
while (ROS.OK && !Console.KeyAvailable)
{
Console.WriteLine("publishing message");
ROS.Info()("Publishing a chatter message: \"Blah blah blah " + count + "\"");
String pow = new String("Blah blah blah " + (count++));
Talker.Publish(pow);
spinner.SpinOnce();
Thread.Sleep(1000);
}
ROS.Shutdown();
}
static void Main(string[] args)
{
Console.WriteLine("Start ROS");
ROS.Init(new string[0], "ActionServer");
var asyncSpinner = new AsyncSpinner();
asyncSpinner.Start();
NodeHandle serverNodeHandle = new NodeHandle();
Console.WriteLine("Create server");
var actionServer = new ActionServer <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>(serverNodeHandle, "test_action");
Console.WriteLine("Start Server");
actionServer.Start();
actionServer.RegisterGoalCallback((goalHandle) =>
{
Console.WriteLine($"Goal registered callback. Goal: {goalHandle.Goal.goal}");
var fb = new Messages.actionlib.TestFeedback();
fb.feedback = 10;
goalHandle.PublishFeedback(fb);
Thread.Sleep(100);
var result = new Messages.actionlib.TestResult();
result.result = 123;
goalHandle.SetGoalStatus(Messages.actionlib_msgs.GoalStatus.SUCCEEDED, "done");
actionServer.PublishResult(goalHandle.GoalStatus, result);
});
while (!Console.KeyAvailable)
{
Thread.Sleep(1);
}
actionServer.Shutdown();
serverNodeHandle.Shutdown();
ROS.Shutdown();
}
static void Main(string[] args)
{
ROS.Init(args, "tf_example");
var asyncSpinner = new AsyncSpinner();
asyncSpinner.Start();
NodeHandle nh = new NodeHandle();
ROS.Info()("This node will create a Transformer to compare lookup results between four source/target " +
"frame pairs of an OpenNI2 node's transform tree with ones observed in linux with tf_echo"
);
while (ROS.OK && !ROS.ShuttingDown && (!Master.GetNodes().Result.Contains("/camera/driver")))
{
ROS.Error()("For this to work, you need to \"roslaunch openni2_launch openni2.launch\" on a PC with" +
"an ASUS Xtion or PrimeSense Carmine sensor plugged into it, and connect to the same master"
);
Thread.Sleep(2000);
}
if (ROS.OK && !ROS.ShuttingDown)
{
tfer = new tf.Transformer(false);
#region tf_echo results
/*
* tf_echo camera_link camera_rgb_frame
* (0.0,-0.045,0.0)
* (0,0,0,1)
*/
tf.Transform result1 = new tf.Transform()
{
basis = new tf.Quaternion(0, 0, 0, 1),
origin = new tf.Vector3(0, -0.045, 0),
child_frame_id = "camera_rgb_frame",
frame_id = "camera_link"
};
/*
* tf_echo camera_link camera_rgb_optical_frame
* (0.0,-0.045,0.0)
* (-0.5,0.5,-0.5,0.5)
*/
tf.Transform result2 = new tf.Transform()
{
basis = new tf.Quaternion(-0.5, 0.5, -0.5, 0.5),
origin = new tf.Vector3(0.0, 0.0, 0.0),
child_frame_id = "camera_rgb_optical_frame",
frame_id = "camera_rgb_frame"
};
/*
* tf_echo camera_rgb_frame camera_depth_frame
* (0.0,0.25,0.0)
* (0,0,0,1)
*/
tf.Transform result3 = new tf.Transform()
{
basis = new tf.Quaternion(0, 0, 0, 1),
origin = new tf.Vector3(0.0, -0.02, 0.0),
child_frame_id = "camera_depth_frame",
frame_id = "camera_link"
};
/*
* tf_echo camera_rgb_optical_frame camera_depth_frame
* (-0.25,0.0,0.0)
* (0.5,-0.5,0.5,0.5)
*/
tf.Transform result4 = new tf.Transform()
{
basis = new tf.Quaternion(-0.5, 0.5, -0.5, 0.5),
origin = new tf.Vector3(0.0, 0.0, 0.0),
child_frame_id = "camera_depth_optical_frame",
frame_id = "camera_depth_frame"
};
#endregion
tf.Transform test1 = null, test2 = null, test3 = null, test4 = null;
do
{
if (test1 == null || !string.Equals(result1.ToString(), test1.ToString()))
{
test1 = testLookup(result1);
}
if (!ROS.OK || ROS.ShuttingDown)
{
break;
}
if (test2 == null || !string.Equals(result2.ToString(), test2.ToString()))
{
test2 = testLookup(result2);
}
if (!ROS.OK || ROS.ShuttingDown)
{
break;
}
if (test3 == null || !string.Equals(result3.ToString(), test3.ToString()))
{
test3 = testLookup(result3);
}
if (!ROS.OK || ROS.ShuttingDown)
{
break;
}
if (test4 == null || !string.Equals(result4.ToString(), test4.ToString()))
{
test4 = testLookup(result4);
}
Thread.Sleep(100);
} while (ROS.OK && !ROS.ShuttingDown && (
test1 == null || !string.Equals(result1.ToString(), test1.ToString()) ||
test2 == null || !string.Equals(result2.ToString(), test2.ToString()) ||
test3 == null || !string.Equals(result3.ToString(), test3.ToString()) ||
test4 == null || !string.Equals(result4.ToString(), test4.ToString()))
);
}
if (ROS.OK && !ROS.ShuttingDown)
{
Console.WriteLine("\n\n\nALL TFs MATCH!\n\nPress enter to quit");
Console.ReadLine();
ROS.Shutdown();
}
}
public void Dispose()
{
Console.WriteLine("Shutting down ROS");
ROS.Shutdown();
}
/*static void Main(string[] args)
* {
* Console.WriteLine("Start ROS");
* ROS.Init(new string[0], "ActionClient");
* NodeHandle clientNodeHandle = new NodeHandle();
*
* Console.WriteLine("Create client");
* var actionClient = new ActionClient<SingleJointPositionGoal, SingleJointPositionResult,
* SingleJointPositionFeedback>("ActionTest", clientNodeHandle);
*
* Console.WriteLine("Wait for client and server to negotiate connection");
* bool started = actionClient.WaitForActionServerToStart(new TimeSpan(0, 0, 10));
*
*
* if (started || true)
* {
* var goal = new SingleJointPositionGoal();
* goal.position = 12.0;
* goal.max_velocity = 42.0;
*
* Console.WriteLine("Send goal from client");
* var transition = false;
* actionClient.SendGoal(goal,
* (goalHandle) => { Console.WriteLine($"Transition: {goalHandle}"); transition = true; },
* (goalHandle, feedback) => { Console.WriteLine($"Feedback: {feedback}"); });
*
*
* Console.WriteLine("Wait for action client to receive transition");
* while (!transition)
* {
* Thread.Sleep(1);
* }
* } else
* {
* Console.WriteLine("Negotiation with server failed!");
* }
* }*/
static void Main(string[] args)
{
Console.WriteLine("Start ROS");
ROS.Init(new string[0], "ActionClient");
var asyncSpinner = new AsyncSpinner();
asyncSpinner.Start();
NodeHandle clientNodeHandle = ROS.GlobalNodeHandle;
Console.WriteLine("Create client");
var actionClient = new ActionClient <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>("test_action", clientNodeHandle);
Console.WriteLine("Wait for client and server to negotiate connection");
bool started = actionClient.WaitForActionServerToStart(new TimeSpan(0, 0, 3));
if (started)
{
int counter = 0;
var dict = new Dictionary <int, Messages.actionlib.TestGoal>();
var semaphore = new Semaphore(10, 10);
while (!Console.KeyAvailable)
{
var now = DateTime.UtcNow;
semaphore.WaitOne();
Console.WriteLine($"Waited: {DateTime.UtcNow - now}");
var goal = new Messages.actionlib.TestGoal();
goal.goal = counter;
dict[counter] = goal;
counter += 1;
Console.WriteLine($"Send goal {goal.goal} from client");
var cts = new CancellationTokenSource();
actionClient.SendGoalAsync(goal,
(goalHandle) =>
{
if (goalHandle.State == CommunicationState.DONE)
{
semaphore.Release();
int g = goalHandle.Goal.Goal.goal;
var result = goalHandle.Result;
if (result != null)
{
Console.WriteLine($"Got Result for goal {g}: {goalHandle.Result.result}");
}
else
{
Console.WriteLine($"Result for goal {g} is NULL!");
}
dict.Remove(g);
}
},
(goalHandle, feedback) =>
{
Console.WriteLine($"Feedback: {feedback}");
},
cts.Token
).GetAwaiter().GetResult();
}
Console.WriteLine("Wait for 15s for open goals");
var timeOut = new TimeSpan(0, 0, 15);
var start = DateTime.UtcNow;
while ((DateTime.UtcNow - start <= timeOut) && (dict.Count > 0))
{
Thread.Sleep(1);
}
if (dict.Count == 0)
{
Console.WriteLine("All goals have been reached!");
}
else
{
Console.WriteLine("TIMEOUT: There are still open goals");
}
}
else
{
Console.WriteLine("Negotiation with server failed!");
}
Console.WriteLine("Shutdown ROS");
actionClient.Shutdown();
clientNodeHandle.Shutdown();
ROS.Shutdown();
}