private void ImportAssets()
{
// setup Urdf Transfer
UrdfTransferFromRos urdfTransfer = new UrdfTransferFromRos(rosSocket, assetPath, urdfParameter);
StatusEvents["robotNameReceived"] = urdfTransfer.Status["robotNameReceived"];
StatusEvents["robotDescriptionReceived"] = urdfTransfer.Status["robotDescriptionReceived"];
StatusEvents["resourceFilesReceived"] = urdfTransfer.Status["resourceFilesReceived"];
urdfTransfer.Transfer();
if (StatusEvents["robotNameReceived"].WaitOne(timeout * 1000))
{
robotName = urdfTransfer.RobotName;
localDirectory = urdfTransfer.LocalUrdfDirectory;
}
// import URDF assets:
if (StatusEvents["resourceFilesReceived"].WaitOne(timeout * 1000))
{
Debug.Log("Imported urdf resources to " + localDirectory);
}
else
{
Debug.LogWarning("Not all resource files have been received before timeout.");
}
rosSocket.Close();
}
public static void Main(string[] args)
{
string uri = "ws://192.168.56.102:9090";
for (int i = 1; i < 3; i++)
{
RosBridgeClient.Protocols.WebSocketNetProtocol webSocketNetProtocol = new RosBridgeClient.Protocols.WebSocketNetProtocol(uri);
RosSocket rosSocket = new RosSocket(webSocketNetProtocol);
string urdfParameter = "/robot_description";
// Publication:
UrdfTransferFromRos urdfTransferFromRos = new UrdfTransferFromRos(rosSocket, System.IO.Directory.GetCurrentDirectory(), urdfParameter);
urdfTransferFromRos.Transfer();
urdfTransferFromRos.Status["robotNameReceived"].WaitOne();
Console.WriteLine("Robot Name Received: " + urdfTransferFromRos.RobotName);
urdfTransferFromRos.Status["robotDescriptionReceived"].WaitOne();
Console.WriteLine("Robot Description received... ");
urdfTransferFromRos.Status["resourceFilesReceived"].WaitOne();
Console.WriteLine("Resource Files received " + urdfTransferFromRos.FilesBeingProcessed.Count);
rosSocket.Close();
}
Console.WriteLine("Press any key to close...");
Console.ReadKey(true);
}
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 void Main(string[] args)
{
//string uri = "ws://localhost:9090";
string uri = "ws://localhost:9090";
Console.WriteLine($"Trying to connect to RosBridge via {uri}");
try
{
for (int i = 1; i < 3; i++)
{
RosBridgeClient.Protocols.WebSocketNetProtocol webSocketNetProtocol = new RosBridgeClient.Protocols.WebSocketNetProtocol(uri);
RosSocket rosSocket = new RosSocket(webSocketNetProtocol);
string urdfParameter = "/robot_description";
// Publication:
UrdfTransferFromRos urdfTransferFromRos = new UrdfTransferFromRos(rosSocket, System.IO.Directory.GetCurrentDirectory(), urdfParameter);
urdfTransferFromRos.Transfer();
urdfTransferFromRos.Status["robotNameReceived"].WaitOne();
Console.WriteLine("Robot Name Received: " + urdfTransferFromRos.RobotName);
urdfTransferFromRos.Status["robotDescriptionReceived"].WaitOne();
Console.WriteLine("Robot Description received... ");
urdfTransferFromRos.Status["resourceFilesReceived"].WaitOne();
Console.WriteLine("Resource Files received " + urdfTransferFromRos.FilesBeingProcessed.Count);
rosSocket.Close();
}
}
catch (Exception ex)
{
Console.WriteLine($"Failed to connect: {ex.Message}");
}
Console.WriteLine("Press any key to close...");
Console.ReadKey(true);
}
private void ImportAssets()
{
// setup Urdf Transfer
UrdfTransferFromRos urdfTransfer = new UrdfTransferFromRos(rosSocket, assetPath, urdfParameter);
StatusEvents["robotNameReceived"] = urdfTransfer.Status["robotNameReceived"];
StatusEvents["robotDescriptionReceived"] = urdfTransfer.Status["robotDescriptionReceived"];
StatusEvents["resourceFilesReceived"] = urdfTransfer.Status["resourceFilesReceived"];
urdfTransfer.Transfer();
if (StatusEvents["robotNameReceived"].WaitOne(timeout * 1000))
{
robotName = urdfTransfer.RobotName;
localDirectory = urdfTransfer.LocalUrdfDirectory;
}
// import URDF assets:
if (StatusEvents["resourceFilesReceived"].WaitOne(timeout * 1000))
{
Debug.Log("Imported urdf resources to " + localDirectory);
Debug.Log("Now creating txt files from .dae files");
var files = Directory.GetFiles(localDirectory, "*.dae", SearchOption.AllDirectories);
foreach (var file in files)
{
string newPath = file.Replace(".dae", ".txt");
Debug.Log("Copied " + Path.GetFileName(file));
File.Copy(file, newPath);
}
}
else
{
Debug.LogWarning("Not all resource files have been received before timeout.");
}
rosSocket.Close();
}
