// Use this for initialization
void Start()
{
advertise_message = new AdvertiseMessage();
advertise_message.op = "advertise";
//advertise_message.id = "s1h2ie3l5d";
advertise_message.topic = "/ShieldVRComm";
advertise_message.type = "std_msgs/String";
shieldvr_subscribe = new ROS_Message();
shieldvr_subscribe.op = "subscribe";
shieldvr_subscribe.topic = "/ShieldVRComm";
shieldvr_subscribe.type = "std_msgs/String";
bucket_advertise = new AdvertiseMessage();
bucket_advertise.op = "advertise";
//bucket_advertise.id = "shBucketvr1";
bucket_advertise.topic = "/ShieldVRCoordinates";
bucket_advertise.type = "std_msgs/String";
bucket_coordinates = new ROS_Out_Message();
bucket_coordinates.op = "publish";
bucket_coordinates.topic = "/ShieldVRCoordinates";
message_back = new ROS_Out_Message();
message_back.op = "publish";
message_back.topic = "/ShieldVRComm";
//creates a new message to be sent to ROS
send_message = new ROS_Message();
//set the op, topic, and type parameters (as detailed in the ROS message protocol)
send_message.op = Message_OP;
send_message.topic = Message_Topic;
send_message.type = Message_Type;
//use WebSocketSharp to connect to the rosbridge
ws = new WebSocket("ws://" + IP + ":" + PORT);
ws.Connect();
if (ws.IsAlive)
{
SendConnectionMessages();
}
else
{
StartCoroutine(Connect());
}
//call a method whenever a message comes from ROS
ws.OnMessage += (sender, e) => DecodeMessage(JSON.Parse(e.Data));
}
// Use this for initialization
void Start()
{
// send a message to ROS with the op, topic, and type
ROS_Message send_message = new ROS_Message(Message_OP, Message_Topic, Message_Type);
// initialize the websocket connection to the instance of ROS
ws = new WebSocket("ws://" + IP + ":" + Port);
ws.Connect();
// send the ROS message
ws.Send(JsonUtility.ToJson(send_message));
// set the message recieved callback
ws.OnMessage += (sender, e) => DecodeMessage(JSON.Parse(e.Data));
}
