private void Advertise()
{
var adMsg = new AdvertiseMessage();
adMsg.id = id;
adMsg.topic = "/mobile_base/commands/velocity";
adMsg.type = "geometry_msgs/Twist";
string adJson = JsonUtility.ToJson(adMsg);
Debug.Log(adJson);
ws.Send(adJson);
}
// 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));
}
private void Publish(string id, float forward, float side, float updown, float angle)
{
var adMsg = new AdvertiseMessage();
adMsg.id = id;
adMsg.topic = topic;
adMsg.type = type;
string adJson = JsonUtility.ToJson(adMsg);
Debug.Log(adJson);
ws.Send(adJson);
var pubMsg = new PublishMessage(id, forward, side, updown, 0, 0, angle);
pubMsg.id = id;
pubMsg.topic = topic;
string pubJson = JsonUtility.ToJson(pubMsg, true);
Debug.Log(pubJson);
ws.Send(pubJson);
}
