private void rosSocketConnect()
{
// intialize
foreach (ManualResetEvent manualResetEvent in status.Values)
{
manualResetEvent.Reset();
}
// connectto ROSbridge
RosSocket rosSocket = new RosSocket(address);
status["connected"].Set();
// setup urdfImporter
urdfImporter = new UrdfImporter(rosSocket, urdfAssetPath);
status["robotNameReceived"] = urdfImporter.Status["robotNameReceived"];
status["robotDescriptionReceived"] = urdfImporter.Status["robotDescriptionReceived"];
status["resourceFilesReceived"] = urdfImporter.Status["resourceFilesReceived"];
urdfImportThread = new Thread(() => urdfImporter.Import());
urdfImportThread.Start();
// import URDF assets:
if (status["resourceFilesReceived"].WaitOne(int.Parse(timeout) * 1000))
{
Debug.Log("Imported urdf resources to " + urdfImporter.LocalDirectory);
}
else
{
Debug.LogWarning("Not all resource files have been received before timeout.");
}
// close the ROSBridge socket
rosSocket.Close();
status["disconnected"].Set();
}
public static void Main(string[] args)
{
string uri = "ws://192.168.56.102:9090";
RosBridgeClient.Protocols.WebSocketNetProtocol webSocketNetProtocol;
RosSocket rosSocket;
for (int i = 1; i < 3; i++)
{
webSocketNetProtocol = new RosBridgeClient.Protocols.WebSocketNetProtocol(uri);
rosSocket = new RosSocket(webSocketNetProtocol);
// Publication:
UrdfImporter urdfImporter = new UrdfImporter(rosSocket, System.IO.Directory.GetCurrentDirectory());
urdfImporter.Import();
urdfImporter.Status["robotNameReceived"].WaitOne();
Console.WriteLine("Robot Name Received: " + urdfImporter.RobotName);
urdfImporter.Status["robotDescriptionReceived"].WaitOne();
Console.WriteLine("Robot Description received... ");
urdfImporter.Status["resourceFilesReceived"].WaitOne();
Console.WriteLine("Resource Files received " + urdfImporter.RequestedResourceFiles.Count);
rosSocket.Close();
}
Console.WriteLine("Press any key to close...");
Console.ReadKey(true);
}
public static void Main(string[] args)
{
//RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketSharpProtocol(uri));
for (int i = 0; i < 2; i++)
{
RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(uri));
UrdfImporter urdfImporter = new UrdfImporter(rosSocket, System.IO.Directory.GetCurrentDirectory().ToString());
urdfImporter.Import();
Console.WriteLine("Press any key to close...");
Console.ReadKey(true);
rosSocket.Close();
}
}
public override void _Ready()
{
UrdfHandler = new UrdfImporter();
UserDataDirectory = OS.GetUserDataDir();
PlugLoader = new Loader(UserDataDirectory + "/plugins/");
// Register close button so we can save the program before quitting
GetNode("/root/main/UI/TitleBar/TitleButtons/QuitButton").Connect(
"pressed", this, "OnQuitRequest");
UserConfig = new ConfigFile();
// Make sure everything is working properly
ParseConfig();
ValidatePluginDirectory();
CheckPlugins();
GD.Print("GLOBAL SINGLETON LOADED");
}
