public void BeginRosImport(RosConnector.Protocols protocolType, string serverUrl, int timeout, string assetPath) { this.timeout = timeout; this.assetPath = assetPath; // initialize ResetStatusEvents(); rosSocket = RosConnector.ConnectToRos(protocolType, serverUrl, OnConnected, OnClosed); if (!StatusEvents["connected"].WaitOne(timeout * 1000)) { Debug.LogWarning("Failed to connect to ROS before timeout"); return; } ImportAssets(); }
public void TransferUrdf(Protocols.Protocol protocolType, string serverUrl, int timeout, string assetPath, string urdfParameter, RosSocket.SerializerEnum serializer) { this.timeout = timeout; this.assetPath = assetPath; this.urdfParameter = urdfParameter; // initialize ResetStatusEvents(); rosSocket = RosConnector.ConnectToRos(protocolType, serverUrl, OnConnected, OnClosed, serializer); if (!StatusEvents["connected"].WaitOne(timeout * 1000)) { Debug.LogWarning("Failed to connect to ROS before timeout"); return; } ImportAssets(); }
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(); }