public void BeginRosImport(RosConnector.Protocols protocolType, string serverUrl, int timeout, string assetPath)
{
this.timeout = timeout;
this.assetPath = assetPath;
// initialize
ResetStatusEvents();
rosSocket = RosConnector.ConnectToRos(protocolType, serverUrl, OnConnected, OnClosed);
if (!StatusEvents["connected"].WaitOne(timeout * 1000))
{
Debug.LogWarning("Failed to connect to ROS before timeout");
return;
}
ImportAssets();
}
public void TransferUrdf(Protocols.Protocol protocolType, string serverUrl, int timeout, string assetPath, string urdfParameter, RosSocket.SerializerEnum serializer)
{
this.timeout = timeout;
this.assetPath = assetPath;
this.urdfParameter = urdfParameter;
// initialize
ResetStatusEvents();
rosSocket = RosConnector.ConnectToRos(protocolType, serverUrl, OnConnected, OnClosed, serializer);
if (!StatusEvents["connected"].WaitOne(timeout * 1000))
{
Debug.LogWarning("Failed to connect to ROS before timeout");
return;
}
ImportAssets();
}
private void TransferAsync(Protocols.Protocol protocolType, string serverUrl, int timeout, string urdfPath, string rosPackage, RosSocket.SerializerEnum serializer)
{
RosSocket = RosConnector.ConnectToRos(protocolType, serverUrl, OnConnected, OnClose, serializer);
if (!StatusEvents["connected"].WaitOne(timeout * 1000))
{
Debug.LogWarning("Failed to connect to " + serverUrl + " before timeout.");
RosSocket.Close();
return;
}
string robotName = Path.GetFileName(urdfPath);
UrdfTransferToRos urdfTransferToRos = new UrdfTransferToRos(RosSocket, robotName, urdfPath, rosPackage);
StatusEvents["robotNamePublished"] = urdfTransferToRos.Status["robotNamePublished"];
StatusEvents["robotDescriptionPublished"] = urdfTransferToRos.Status["robotDescriptionPublished"];
StatusEvents["resourceFilesSent"] = urdfTransferToRos.Status["resourceFilesSent"];
urdfTransferToRos.Transfer();
}
