private static void DoWork()
{
string uri = "ws://localhost:9090";
Console.WriteLine($"Trying to connect to RosBridge via {uri}");
RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol webSocketNetProtocol = new RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol(uri);
var protocol = RosSharp.RosBridgeClient.Protocols.ProtocolInitializer.GetProtocol(RosSharp.RosBridgeClient.Protocols.Protocol.WebSocketNET, uri);
protocol.OnConnected += OnConnected;
protocol.OnClosed += OnClosed;
rosSocket = new RosSocket(protocol, RosSocket.SerializerEnum.Newtonsoft_JSON);
rosSocket.Subscribe <Clock>("/clock", ReceiveMessage, 1000);
publishId = rosSocket.Advertise <Clock>("/customTopic_clock");
//rosSocket.Subscribe<RosSharp.RosBridgeClient.MessageTypes.Std.String>("/clock", ReceiveMessage);
}
public void ShouldImportFilesDirectly()
{
string uri = "ws://localhost:9090";
RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol webSocketNetProtocol = new RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol(uri);
RosSocket rosSocket = new RosSocket(webSocketNetProtocol);
string urdfParameter = "/robot_description";
string t = JsonConvert.SerializeObject(rosSocket);
// Publication:
UrdfTransferFromRos urdfTransferFromRos = new UrdfTransferFromRos(rosSocket, System.IO.Directory.GetCurrentDirectory(), urdfParameter);
//urdfTransferFromRos.Transfer();
urdfTransferFromRos.RobotName = "UR3";
urdfTransferFromRos.ImportResourceFiles(UrdfTests.Properties.Resources.xmlUr5);
urdfTransferFromRos.Status["resourceFilesReceived"].WaitOne();
Console.WriteLine("Resource Files received " + urdfTransferFromRos.FilesBeingProcessed.Count);
rosSocket.Close();
}
public static RosSocket GetStandardRosSocket(string uri, Action OnConnected, Action OnClosed)
{
RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol webSocketNetProtocol = new RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol(uri);
var protocol = RosSharp.RosBridgeClient.Protocols.ProtocolInitializer.GetProtocol(RosSharp.RosBridgeClient.Protocols.Protocol.WebSocketNET, uri);
if (OnConnected != null)
{
protocol.OnConnected += (sender, eventArgs) => { OnConnected?.Invoke(); }
}
;
if (OnClosed != null)
{
protocol.OnClosed += (sender, eventArgs) => { OnClosed?.Invoke(); }
}
;
var rosSocket = new RosSocket(protocol, RosSocket.SerializerEnum.Newtonsoft_JSON);
return(rosSocket);
}
}
}
