/// <summary>
/// Initializes ROS
/// </summary>
public void InitROS()
{
if (!ROS.initialized)
{
if (string.IsNullOrEmpty(rosUri))
{
UnityEngine.Debug.LogError("ROS Master URI is empty. This must be populated with the Master address of your target roscore instance.");
return;
}
ROS.Init(new string[] { "__master:=" + rosUri }, primaryNodeName);
NodeHandle nodeHandle = new NodeHandle();
// Setup publishers
pubVector3 = nodeHandle.advertise <Messages.geometry_msgs.Vector3>(pubVector3Topic, 1, false);
// Setup subscribers
subVector3 = nodeHandle.subscribe <Messages.geometry_msgs.Vector3>(pubVector3Topic, 1, OnReceiveVector3);
subCustomNode = nodeHandle.subscribe <Messages.stanford_msgs.ExampleCustom>(subCustomNodeTopic, 1, OnReceiveCustomNodeData);
}
else
{
Debug.LogError("ROS can only be initialized once per application launch. To re-initialize ROS you must close and re-launch the application.");
}
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
ROS.ROS_MASTER_URI = "http://10.0.2.88:11311";
ROS.ROS_HOSTNAME = "10.0.2.152";
ROS.Init(new string[0], NODE_NAME);
nodeHandle = new NodeHandle();
//server = nodeHandle.advertiseService<Messages.roscpp_tutorials.TwoInts, Messages.roscpp_tutorials.TwoInts.Request, Messages.roscpp_tutorials.TwoInts.Response>("/add_two_ints", addition);
client = nodeHandle.serviceClient <Messages.roscpp_tutorials.TwoInts.Request, Messages.roscpp_tutorials.TwoInts.Response>("/add_two_ints");
new Thread(new ThreadStart(() =>
{
Random r = new Random();
while (!ROS.shutting_down)
{
TwoInts.Request req = new TwoInts.Request()
{
a = r.Next(100), b = r.Next(100)
};
TwoInts.Response resp = new TwoInts.Response();
if (client.call(req, ref resp))
{
Dispatcher.Invoke(new Action(() =>
{
math.Content = "" + req.a + " + " + req.b + " = " + resp.sum;
}));
}
Thread.Sleep(500);
}
})).Start();
}
public MainWindow()
{
InitializeComponent();
string[] sParam = new string[1];
//sParam[0] = "__hostname:=192.168.0.8";
sParam[0] = "__master:=http://192.168.1.108:11311";
ROS.Init(sParam, "wpf_talker");
nh = new NodeHandle();
pub = nh.advertise <Messages.std_msgs.String>("/chatter", 1, true);
pubthread = new Thread(() =>
{
int i = 0;
Messages.std_msgs.String msg;
while (ROS.ok && !closing)
{
msg = new Messages.std_msgs.String("foo " + (i++));
pub.publish(msg);
Dispatcher.Invoke(new Action(() =>
{
l.Content = "Sending: " + msg.data;
}), new TimeSpan(0, 0, 1));
Thread.Sleep(100);
}
});
pubthread.Start();
}
public MainWindow()
{
InitializeComponent();
ROS.Init(new string[0], "simplePublisher");
nh = new NodeHandle();
pub = nh.advertise <Messages.tf.tfMessage>("/tf_test", 1000, true);
new Thread(() =>
{
int i = 0;
while (ROS.ok)
{
Messages.tf.tfMessage msg = new Messages.tf.tfMessage();
msg.transforms = new Messages.geometry_msgs.TransformStamped[1];
msg.transforms[0] = new Messages.geometry_msgs.TransformStamped();
msg.transforms[0].header.seq = (uint)i++;
pub.publish(msg);
Thread.Sleep(100);
Dispatcher.Invoke(new Action(() =>
{
l.Content = "Sending: " + msg.transforms[0].header.seq;
}));
}
}).Start();
}
public RosFixture()
{
Console.WriteLine("Init ROS");
ROS.ROS_MASTER_URI = "http://localhost:11311";
ROS.ROS_IP = "127.0.0.1";
ROS.Init(new string[0], "RosFixture");
}
public MainWindow()
{
InitializeComponent();
ROS.Init(new string[0], "wpf_talker");
nh = new NodeHandle();
pub = nh.advertise <Messages.std_msgs.String>("/chatter", 1, false);
pubthread = new Thread(() =>
{
int i = 0;
Messages.std_msgs.String msg;
while (ROS.ok && !closing)
{
msg = new Messages.std_msgs.String("foo " + (i++));
pub.publish(msg);
Dispatcher.Invoke(new Action(() =>
{
l.Content = "Sending: " + msg.data;
}), new TimeSpan(0, 0, 1));
Thread.Sleep(100);
}
});
pubthread.Start();
}
private static void Main(string[] args)
{
ROS.Init(args, "Listener");
NodeHandle node = new NodeHandle();
Subscriber <m.String> Subscriber = node.subscribe <m.String>("/chatter", 1, chatterCallback);
ROS.waitForShutdown();
}
/// <summary>
/// The main entry point for the application.
/// </summary>
static void Main(string[] args)
{
ROS.Init(args, "xna_game");
using (TheGame game = new TheGame())
{
game.Run();
}
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
ROS.Init(new string[0], NODE_NAME);
nodeHandle = new NodeHandle();
server = nodeHandle.advertiseService <TwoInts.Request, TwoInts.Response>("/add_two_ints", addition);
}
private void StartRos(int runNumber)
{
Logger.LogInformation($"Start ROS #{runNumber}");
ROS.Init(new string[] { }, "PubSubTestbed");
spinner = new AsyncSpinner();
spinner.Start();
Logger.LogInformation("Started");
}
void doConnect()
{
//开启键盘控制节点
ROS.Init(new string[0], "tele_key");
nh = new NodeHandle();
pub = nh.advertise <Messages.geometry_msgs.Twist>("/cmd_vel", 1, false);
}
private void StartRos(int runNumber)
{
ROS.Info()($"Start ROS #{runNumber}");
ROS.Init(new string[] { }, "PubSubTestbed");
spinner = new AsyncSpinner();
spinner.Start();
ROS.Info()("Started");
}
private void StartRos(int runNumber)
{
Logger.LogInformation($"Start ROS #{runNumber}");
ROS.ROS_MASTER_URI = "http://localhost:11311";
ROS.Init(new string[] { }, "PubSubTestbed");
spinner = new AsyncSpinner();
spinner.Start();
Logger.LogInformation("Started");
}
public MainWindow()
{
InitializeComponent();
ROS.Init(new string[0], "wpf_listener");
nh = new NodeHandle();
sub = nh.subscribe <Messages.std_msgs.String>("/chatter", 10, subCallback);
}
static void Main(string[] args)
{
string NODE_NAME = "ServiceClientTest";
try
{
ROS.Init(ref args, NODE_NAME + DateTime.Now.Ticks);
var spinner = new AsyncSpinner();
spinner.Start();
}
catch (RosException e)
{
ROS.Critical()("ROS.Init failed, shutting down: {0}", e.Message);
ROS.shutdown();
ROS.waitForShutdown();
return;
}
try
{
var nodeHandle = new NodeHandle();
while (ROS.ok)
{
Random r = new Random();
TwoInts.Request req = new TwoInts.Request()
{
a = r.Next(100), b = r.Next(100)
};
TwoInts.Response resp = new TwoInts.Response();
DateTime before = DateTime.Now;
bool res = nodeHandle.serviceClient <TwoInts.Request, TwoInts.Response>("/add_two_ints").call(req, ref resp);
TimeSpan dif = DateTime.Now.Subtract(before);
string str = "";
if (res)
{
str = "" + req.a + " + " + req.b + " = " + resp.sum + "\n";
}
else
{
str = "call failed after ";
}
str += Math.Round(dif.TotalMilliseconds, 2) + " ms";
ROS.Info()(str);
Thread.Sleep(1000);
}
}
catch (RosException e)
{
ROS.Critical()("Shutting down: {0}", e.Message);
}
ROS.shutdown();
ROS.waitForShutdown();
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
new Thread(() =>
{
// ROS stuff
ROS.ROS_MASTER_URI = "http://10.0.3.5:11311";
ROS.Init(new string[0], "The_IMU_Tester_" + System.Environment.MachineName.Replace("-", "__"));
nh = new NodeHandle();
}).Start();
}
public RosoutDebug(int verboseLevel, string[] args)
{
this.verboseLevel = verboseLevel;
ROS.Init(args, "RosoutDebug");
var asyncSpinner = new AsyncSpinner();
asyncSpinner.Start();
nodeHandle = new NodeHandle();
Init();
}
static void Main(string[] args)
{
ROS.Init(args, "MoveitTest");
NodeHandle node = new NodeHandle();
gm.PoseStamped result = SetPose(-0.1, 0.1, 0.2, 0.0, 180.0, 0.0, "");
Console.WriteLine("result");
Console.WriteLine(result);
GetIK(node, result, "endeffector");
ROS.waitForShutdown();
}
// Use this for initialization
void Start()
{
setROS_HOST();
string[] dummy = { "" };
ROS.Init(dummy, "unity"); //TODO:set your own node name
n = new NodeHandle();
tf = new Transformer(false /* do Interprate ?*/); /* for TF lookup*/
tf_pub = n.advertise <Messages.tf.tfMessage>("/tf", 100); /* for TF broad cast */
Debug.LogError("ROS my HostIP :" + ROS.ROS_IP + "\nMASTER_URI" + ROS.ROS_MASTER_URI);
}
private static void Main(string[] args)
{
Trace.Listeners.Add(new TextWriterTraceListener(Console.Out));
ROS.Init(args, "Listener");
var spinner = new AsyncSpinner();
spinner.Start();
NodeHandle node = new NodeHandle();
Subscriber Subscriber = node.subscribe <std_msgs.String>("/chatter", 1, chatterCallback);
ROS.waitForShutdown();
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
string[] sParam = new string[1];
//sParam[0] = "__hostname:=192.168.0.8";
sParam[0] = "__master:=http://192.168.1.108:11311";
ROS.Init(sParam, "Image_Test2");
nh = new NodeHandle();
VoicePlay.EasyPlayer_Init();
}
// Use this for initialization
void Start()
{
ROS.ROS_MASTER_URI = "http://127.0.0.1:11311/";
string[] args = new string[0];
ROS.Init(args, "Talker");
node = new NodeHandle();
Talker = node.advertise <m.String>("/chatter", 1000);
sub = node.subscribe <Messages.std_msgs.String>("/chatter_to_unity", 10, subCallback);
StartCoroutine(Coro());
}
public MainWindow()
{
before = DateTime.Now;
InitializeComponent();
ROS.ROS_MASTER_URI = "http://10.0.2.226:11311";
ROS.ROS_HOSTNAME = "10.0.2.226";
ROS.Init(new string[0], "simpleSubscriber");
nh = new NodeHandle();
sub = nh.subscribe <Messages.std_msgs.String>("/my_topic", 10, subCallback);
}
static void Main(string[] args)
{
#if (DEBUG)
Environment.SetEnvironmentVariable("ROS_MASTER_URI", "http://localhost:11311/");
#endif
Console.WriteLine("Start ROS");
ROS.Init(ref args, "ActionServerClientSlowDummy");
ICallbackQueue callbackQueue = new CallbackQueue();
var asyncSpinner = new AsyncSpinner(callbackQueue);
asyncSpinner.Start();
NodeHandle nodeHandle = new NodeHandle(callbackQueue);
ActionClient <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback> actionClient = null;
// setup action server start
Console.WriteLine("Create server");
var actionServer = new ActionServer <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>(nodeHandle, "test_action");
Param.Set("status_list_timeout", 999.9);
actionServer.RegisterGoalCallback((sgoalHandle) =>
{
Thread thread = new Thread(() => serverGoalCallback(sgoalHandle, actionServer, actionClient));
thread.Start();
});
Console.WriteLine("Start Server");
actionServer.Start();
Console.WriteLine("Server Started");
// setup action server finish
// setup client
actionClient = new ActionClient <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>("test_action_slow", nodeHandle);
// send action request to serverslowdummy
Console.WriteLine("Wait for client and server to negotiate connection");
bool started = actionClient.WaitForActionServerToStart(new TimeSpan(0, 0, 3));
if (!started)
{
Console.WriteLine("Negotiation with server failed!");
}
Console.ReadLine();
actionServer.Shutdown();
nodeHandle.shutdown();
ROS.shutdown();
}
private static void _startROS()
{
if (!ROS.isStarted() && roslock.WaitOne())
{
// Make sure we are still the first caller to initialize ros, in case we blocked waiting for the lock
if (!ROS.isStarted())
{
ROS.Init(new string[0], "unity_test_" + DateTime.Now.Ticks);
tf.net.Transformer.LateInit();
}
roslock.Set();
}
}
public CROS()
{
ROS.ROS_HOSTNAME = "inin-lab2";
ROS.ROS_MASTER_URI = "http://192.168.0.103:11311";
//ROS.ROS_MASTER_URI = "http://127.0.0.1:11311";
ROS.Init(new string[0], "gis_node_2");
nh = new NodeHandle();
ins_sub = nh.subscribe <Messages.common.InsInfo>("/InsInfo", 10, subCallback);
vec_sub = nh.subscribe <Messages.common.TcpGeneral>("/TREK", 10, veh_subCallback);
// gis_pub = nh.advertise<Messages.common.GisInfo>("/gis_info", 1);
//gis_pub = nh.advertise<Messages.std_msgs.String>("/GIS_TEST", 1);
msg_veh.data = new int[256];
}
public MainWindow()
{
string[] sParam = new string[2];
sParam[0] = "__hostname:=" + GetLocalIP();
sParam[1] = "__master:=http://192.168.1.108:11311";
ROS.Init(sParam, "wpf_listener3");
InitializeComponent();
nh = new NodeHandle();
sub = nh.subscribe <Messages.std_msgs.String>("/chatter", 10, subCallback);
}
public static void start()
{
ROS.Init(new string[0], "rosout");
nh = new NodeHandle();
sub = nh.subscribe <Messages.rosgraph_msgs.Log>("/rosout", 10, rosoutCallback);
pub = nh.advertise <Messages.rosgraph_msgs.Log>("/rosout_agg", 1000, true);
new Thread(() =>
{
while (!ROS.ok)
{
Thread.Sleep(10);
}
}).Start();
}
public void StartROS(String master_uri, String hostname, String nodename = "UnityProject")
{
if (!IsROSStarted)
{
ROS.ROS_HOSTNAME = hostname;
ROS.ROS_MASTER_URI = master_uri;
ROS.Init(new String[0], nodename);
nh = new NodeHandle();
IsROSStarted = true;
Debug.Log("ROS Started, Master: " + master_uri + " Hostname: " + hostname + " Node Name: " + nodename);
}
else
{
Debug.LogWarning("Can't start ROS, it is already started");
}
}
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.Init(ref args, "ActionClient");
//(new Program()).Start(1);
(new TestActionServerKill()).Start(5);
ROS.shutdown();
}
