// on ROS system:
// launch before starting:
// roslaunch file_server ros_sharp_communication.launch
// launch after starting:
// roslaunch file_server visualize_robot.launch
public static void Main(string[] args)
{
string uri = "ws://192.168.56.102:9090";
string robotDescription = Path.Combine(Directory.GetCurrentDirectory(), "..", "..", "TestUrdf", "R2D2WithTexture.urdf");
WebSocketNetProtocol webSocketNetProtocol = new WebSocketNetProtocol(uri);
RosSocket rosSocket = new RosSocket(webSocketNetProtocol);
// Publication:
UrdfTransferToRos transferor = new UrdfTransferToRos(rosSocket, "Robot", robotDescription, "test_package");
transferor.Transfer();
transferor.Status["robotNamePublished"].WaitOne();
Console.WriteLine("Robot Name Published: " + transferor.RobotName);
transferor.Status["robotDescriptionPublished"].WaitOne();
Console.WriteLine("Robot Description received... ");
transferor.Status["resourceFilesSent"].WaitOne();
Console.WriteLine("Resource Files sent: " + transferor.FilesBeingProcessed.Count);
Console.WriteLine("Press any key to close...");
Console.ReadKey(true);
rosSocket.Close();
}
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();
}
