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))
{
UnityEngine.Debug.Log("Imported urdf resources to " + localDirectory);
}
else
{
UnityEngine.Debug.LogWarning("Not all resource files have been received before timeout.");
}
rosSocket.Close();
}
private void ImportAssets()
{
// setup urdfImporter
UrdfImporter urdfImporter = new UrdfImporter(rosSocket, assetPath, robotDescriptionParamName);
StatusEvents["robotNameReceived"] = urdfImporter.Status["robotNameReceived"];
StatusEvents["robotDescriptionReceived"] = urdfImporter.Status["robotDescriptionReceived"];
StatusEvents["resourceFilesReceived"] = urdfImporter.Status["resourceFilesReceived"];
urdfImporter.Import();
if (StatusEvents["robotNameReceived"].WaitOne(timeout * 1000))
{
robotName = urdfImporter.RobotName;
localDirectory = urdfImporter.LocalDirectory;
}
// import URDF assets:
if (StatusEvents["resourceFilesReceived"].WaitOne(timeout * 1000))
{
Debug.Log("Imported urdf resources to " + urdfImporter.LocalDirectory);
}
else
{
Debug.LogWarning("Not all resource files have been received before timeout.");
}
rosSocket.Close();
}
public void Close()
{
closed = true;
if (RosSocket != null)
{
RosSocket.protocol.OnClosed -= OnClosed;
RosSocket.Close();
}
}
private void OnClosed(object sender, EventArgs e)
{
IsConnected.Reset();
Debug.Log("Disconnected from RosBridge: " + RosBridgeServerUrl);
RosSocket.Close();
RosSocket = null;
SocketThread.Join();
SocketThread = new Thread(ConnectAndWait);
SocketThread.Start();
}
private void OnApplicationQuit()
{
if (RosSocket != null)
{
RosSocket.Close();
}
// Necessary as this is also our flag to stop running threads
RosSocket = null;
if (SocketThread != null)
{
SocketThread.Join((int)(SecondsTimeout * 1000));
}
}
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();
}
public void Reset()
{
Debug.Log("Resetting RosBridge!");
if (RosSocket != null)
{
RosSocket.Close();
}
// Necessary as this is also our flag to stop running threads
RosSocket = null;
if (SocketThread != null)
{
SocketThread.Join();
}
IsConnected = new ManualResetEvent(false);
SocketThread = new Thread(ConnectAndWait);
SocketThread.Start();
}
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();
}
private void OnApplicationQuit()
{
RosSocket.Close();
}
protected void OnApplicationQuit()
{
RosSocket.Close();
}
public void Stop()
{
socket.Close();
}
