/// <summary>
/// Get all the parameter names published on the rosparam server.
/// </summary>
/// <param name="id">Unique ID for the service call.</param>
/// <param name="onGetParamNames">Callback on getting the parameter names.</param>
public static void GetParamNames(string id, Func <string[], Task> onGetParamNames)
{
ZOROSBridgeConnection.Instance.CallService <EmptyServiceRequest, GetParamNamesResponse>(new EmptyServiceRequest(), "/rosapi/get_param_names", id, (bridge, responseMsg) => {
GetParamNamesResponse response = (GetParamNamesResponse)responseMsg;
onGetParamNames(response.names);
return(Task.CompletedTask);
});
}
// Start is called before the first frame update
void Start()
{
/// # run a ROS Bridge Connection TCP server for BSON encoding:
/// roslaunch rosbridge_server rosbridge_tcp.launch bson_only_mode:=true
ZOROSBridgeConnection.Instance.Serialization = ZOROSBridgeConnection.SerializationType.BSON;
ZOROSBridgeConnection.Instance.ROSBridgeConnectEvent += delegate(ZOROSBridgeConnection rosbridge) {
Debug.Log("INFO: Connected to ROS Bridge");
// test advertising
rosbridge.Advertise("cmd_vel_zero", "geometry_msgs/Twist");
// test ROS subscription
// NOTE: this message should alway be returned by the ROS Bridge. If not there is something wrong
// with the `roslaunch rosbridge_server rosbridge_tcp.launch bson_only_mode:=true` setup
rosbridge.Subscribe <Int32Message>("subscriber_1", "client_count", "std_msgs/Int32", (bridge, msg) => {
Debug.Log("INFO: Received subscription: " + ((Int32Message)msg).data);
return(Task.CompletedTask);
});
// test ROS subscription
// See: `zero_sim_ros/scripts/zo_publisher_test.py`
// `rosrun zero_sim_ros zo_publisher_test.py`
rosbridge.Subscribe <StringMessage>("subscriber_1", "chatter", "std_msgs/String", (bridge, msg) => {
Debug.Log("INFO: Received subscription: " + ((StringMessage)msg).data);
return(Task.CompletedTask);
});
// test ROS service provider
// On command line run: `rosservice call /unity/test_service true`
rosbridge.AdvertiseService <SetBoolServiceRequest>("unity/test_service", "std_srvs/SetBool", (bridge, msg, id) => {
Debug.Log("INFO: Servicing the unity/test_service request: " + ((SetBoolServiceRequest)msg).data.ToString());
// respond back
bridge.ServiceResponse <SetBoolServiceResponse>(new SetBoolServiceResponse(true, "hello world"), "unity/test_service", true, id);
return(Task.CompletedTask);
});
// test ROS service call by getting rosparam param names from rosbridge service
rosbridge.CallService <EmptyServiceRequest, GetParamNamesResponse>(new EmptyServiceRequest(), "/rosapi/get_param_names", "unity_test_1", (bridge, responseMsg) => {
GetParamNamesResponse response = (GetParamNamesResponse)responseMsg;
foreach (string name in response.names)
{
Debug.Log("INFO: Received unity_test_1 rosapi/GetParamNames response name: " + name);
}
return(Task.CompletedTask);
});
};
ZOROSBridgeConnection.Instance.ROSBridgeDisconnectEvent += delegate(ZOROSBridgeConnection controller) {
Debug.Log("INFO: Disconnected to ROS Bridge");
ZOROSBridgeConnection.Instance.UnAdvertiseService("unity/test_service");
controller.UnAdvertise("cmd_vel_zero");
};
// connect to ROS Bridge asynchronously.
Task controllerSubscriptionTask = Task.Run(async() => {
await ZOROSBridgeConnection.Instance.ConnectAsync();
});
}
/// <summary> Setter constructor. </summary>
public GetParamNames(GetParamNamesRequest request)
{
Request = request;
Response = new GetParamNamesResponse();
}
/// <summary> Empty constructor. </summary>
public GetParamNames()
{
Request = GetParamNamesRequest.Singleton;
Response = new GetParamNamesResponse();
}
