public void Start()
{
cancelPublicationID = socket.Advertise <GoalID>(actionName + "/cancel");
goalPublicationID = socket.Advertise <TActionGoal>(actionName + "/goal");
socket.Subscribe <GoalStatusArray>(actionName + "/status", StatusCallback, (int)(timeStep * 1000));
socket.Subscribe <TActionFeedback>(actionName + "/feedback", FeedbackCallback, (int)(timeStep * 1000));
socket.Subscribe <TActionResult>(actionName + "/result", ResultCallback, (int)(timeStep * 1000));
}
// Use this for initialization
void Start()
{
rosSocket = GetComponent <RosConnector>().RosSocket;
Debug.Log("PLANTOPIC: " + PlanTopic);
planPublicationId = rosSocket.Advertise(PlanTopic, "ros_reality_bridge_msgs/MoveitTarget");
executePublicationId = rosSocket.Advertise(ExecuteTopic, "std_msgs/String");
ResetBackend();
//FadeManager.AssertIsInitialized();
}
public abstract Tgoal GetGoal(); // to be implemented by user
protected virtual void Start()
{
rosSocket = GetComponent <RosConnector>().RosSocket;
CancelPublicationId = rosSocket.Advertise <Messages.Actionlib.GoalID>(ActionName + "/cancel");
GoalPublicationId = rosSocket.Advertise <Tgoal>(ActionName + "/goal");
rosSocket.Subscribe <Messages.Actionlib.GoalStatusArray>(ActionName + "/status", StatusCallback, (int)(TimeStep * 1000));
rosSocket.Subscribe <Tfeedback>(ActionName + "/feedback", FeedbackCallback, (int)(TimeStep * 1000));
rosSocket.Subscribe <Tresult>(ActionName + "/result", ResultCallback, (int)(TimeStep * 1000));
}
public void Start()
{
statusPublicationId = socket.Advertise <GoalStatusArray>(actionName + "/status");
feedbackPublicationId = socket.Advertise <TActionFeedback>(actionName + "/feedback");
resultPublicationId = socket.Advertise <TActionResult>(actionName + "/result");
socket.Subscribe <GoalID>(actionName + "/cancel", CancelCallback, (int)(timeStep * 1000));
socket.Subscribe <TActionGoal>(actionName + "/goal", GoalCallback, (int)(timeStep * 1000));
UpdateAndPublishStatus(ActionStatus.PENDING);
}
protected abstract void GoalHandle(Tgoal goal); // to be implemented by user
protected void Start()
{
rosSocket = GetComponent <RosConnector>().RosSocket;
ActionState = ActionStates.Pending;
rosSocket.Subscribe <Messages.Actionlib.GoalID>(ActionName + "/cancel", CancelCallback, (int)(TimeStep * 1000));
rosSocket.Subscribe <Tgoal>(ActionName + "/goal", GoalCallback, (int)(TimeStep * 1000));
StatusPublicationId = rosSocket.Advertise <Messages.Actionlib.GoalStatusArray>(ActionName + "/status");
FeedbackPublicationId = rosSocket.Advertise <Tfeedback>(ActionName + "/feedback");
ResultPublicationId = rosSocket.Advertise <Tresult>(ActionName + "/result");
}
protected virtual void Start()
{
rosSocket = GetComponent <RosConnector>().RosSocket;
publicationId = rosSocket.Advertise(Topic, MessageTypes.RosMessageType(MessageProvider.MessageType));
PublicationEvent += ReadMessage;
}
// Use this for initialization
void Start()
{
displayMessages = new Dictionary <string, float>();
red = new Color(1f, 0f, 0f, 0.5f);
blue = new Color(0f, 0f, 1f, 0.5f);
offRed = new Color(1f, 0f, 0.3f, 0.5f);
offBlue = new Color(0.3f, 0f, 1f, 0.5f);
print("Starting ROSBRIDGE and ROSSHARP!");
rosSocket = GetComponent <RosConnector>().RosSocket;
rosSocket.Subscribe(agent_topic, "gameworld_simulation/Agent", agentSubscriber, UpdateTime);
rosSocket.Subscribe(construction_task_topic, "gameworld_simulation/ConstructionTask", constuctionTaskSubscriber, UpdateTime);
rosSocket.Subscribe(transport_task_topic, "gameworld_simulation/TransportTask", transportationTaskSubscriber, UpdateTime);
rosSocket.Subscribe(ros_update_message_topic, "std_msgs/String", updateMessageSubscriber, UpdateTime);
updateID = rosSocket.Advertise(game_update_topic, "std_msgs/String");
inputID = rosSocket.Advertise(user_input_topic, "std_msgs/String");
message.data = "start";
rosSocket.Publish(updateID, message);
lineMaterial = Resources.Load("Material/tile_ceilingPanel_fx", typeof(Material)) as Material;
}
// Use this for initialization
void Start()
{
rosSocket = GetComponent <RosConnector>().RosSocket;
//planPublicationId = rosSocket.Advertise(PlanTopic, "ros_reality_bridge_msgs/MoveitTarget");
executePublicationId = rosSocket.Advertise(ExecuteTopic, "std_msgs/String");
}
