public void uninit()
{
ROS.shutdown();
ROS.waitForShutdown();
isConnect = false;
}
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();
}
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();
}
protected override void OnClosed(EventArgs e)
{
if (!closing)
{
closing = true;
pubthread.Join();
}
ROS.shutdown();
ROS.waitForShutdown();
base.OnClosed(e);
}
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();
}
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();
}
static void Main(string[] args)
{
// Setup the logging system
var loggerFactory = new LoggerFactory();
loggerFactory.AddProvider(
new ConsoleLoggerProvider(
(string text, LogLevel logLevel) => { return(logLevel >= LogLevel.Information); }, true)
);
Logger = ApplicationLogging.CreateLogger(nameof(Main));
ROS.SetLoggerFactory(loggerFactory);
NodeHandle nodeHandle;
string NODE_NAME = "ServiceServerTest";
ServiceServer server;
try
{
ROS.Init(new string[0], NODE_NAME);
}
catch (RosException e)
{
Logger.LogCritical("ROS.Init failed, shutting down: {0}", e.Message);
ROS.shutdown();
ROS.waitForShutdown();
return;
}
try
{
nodeHandle = new NodeHandle();
server = nodeHandle.advertiseService <TwoInts.Request, TwoInts.Response>("/add_two_ints", addition);
while (ROS.ok && server.IsValid)
{
Thread.Sleep(10);
}
}
catch (RosException e)
{
Logger.LogCritical("Shutting down: {0}", e.Message);
}
ROS.shutdown();
ROS.waitForShutdown();
}
private static void Main(string[] args)
{
ROS.Init(args, "Talker");
NodeHandle node = new NodeHandle();
Publisher <m.String> Talker = node.advertise <m.String>("/chatter", 1);
int count = 0;
while (ROS.ok)
{
ROS.Info("Publishing a chatter message: \"Blah blah blah " + count + "\"");
String pow = new String("Blah blah blah " + (count++));
Talker.publish(pow);
Thread.Sleep(1000);
}
ROS.shutdown();
ROS.waitForShutdown();
}
public static void StopROS(Action callback = null)
{
if (ROS.isStarted() && !ROS.shutting_down && !instance.stopping)
{
// instance.status = ROSStatus.Disconnected;
instance.starting = false;
instance.stopping = true;
while (nodes.Count > 0)
{
NodeHandle node = nodes.Dequeue();
node.shutdown();
node.Dispose();
}
Debug.Log("stopping ROS");
ROS.shutdown();
ROS.waitForShutdown();
}
if (callback != null)
{
callback();
}
}
static void Main(string[] args)
{
NodeHandle nodeHandle;
string NODE_NAME = "ServiceServerTest";
ServiceServer server;
try
{
ROS.Init(new string[0], NODE_NAME);
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
{
nodeHandle = new NodeHandle();
server = nodeHandle.advertiseService <TwoInts.Request, TwoInts.Response>("/add_two_ints", addition);
while (ROS.ok && server.IsValid)
{
Thread.Sleep(10);
}
}
catch (RosException e)
{
ROS.Critical()("Shutting down: {0}", e.Message);
}
ROS.shutdown();
ROS.waitForShutdown();
}
public static void StopROS()
{
if (ROS.isStarted() && !ROS.shutting_down && roslock.WaitOne())
{
if (ROS.isStarted() && !ROS.shutting_down)
{
Debug.Log("ROSManager is shutting down");
ROS.shutdown();
}
roslock.Set();
}
ROS.waitForShutdown();
#if LOG_TO_FILE
lock (loggerlock)
{
Application.logMessageReceived -= Application_logMessageReceived;
if (logwriter != null)
{
logwriter.Close();
logwriter = null;
}
}
#endif
}
protected override void OnClosing(System.ComponentModel.CancelEventArgs e)
{
ROS.shutdown();
ROS.waitForShutdown();
base.OnClosing(e);
}
void OnApplicationQuit()
{
ROS.shutdown();
ROS.waitForShutdown();
}
void OnApplicationQuit()
{
ROS.shutdown();
ROS.waitForShutdown();
pub_thread.Abort();
}
protected override void OnClosed(EventArgs e)
{
ROS.shutdown();
ROS.waitForShutdown();
base.OnClosed(e);
}
private void Window_Closing(object sender, System.ComponentModel.CancelEventArgs e)
{
ROS.shutdown();
ROS.waitForShutdown();
topicPoller.Join();
}
static void Main(string[] args)
{
string NODE_NAME = "ServiceClientTest";
var loggerFactory = new LoggerFactory();
loggerFactory.AddProvider(
new ConsoleLoggerProvider(
(string text, LogLevel logLevel) => { return(logLevel >= LogLevel.Debug); }, true)
);
Logger = ApplicationLogging.CreateLogger(nameof(Main));
ROS.SetLoggerFactory(loggerFactory);
try
{
ROS.Init(new string[0], NODE_NAME + DateTime.Now.Ticks);
}
catch (RosException e)
{
Logger.LogCritical("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";
Logger.LogInformation(str);
Thread.Sleep(1000);
}
}
catch (RosException e)
{
Logger.LogCritical("Shutting down: {0}", e.Message);
}
ROS.shutdown();
ROS.waitForShutdown();
}
public void Close()
{
ROS.shutdown();
ROS.waitForShutdown();
}