public static void Main(string[] args)
{
//RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketSharpProtocol(uri));
RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(uri));
// Publication:
int ImageDataSize = 100;
sensor_msgs.CompressedImage image = new sensor_msgs.CompressedImage();
image.header.frame_id = "Test";
string publication_id = rosSocket.Advertise <sensor_msgs.CompressedImage>("/test_image");
Console.WriteLine("Press any key to start publication...");
Console.ReadKey(true);
for (int i = 0; i < 100000; i++)
{
image.header.seq += 1;
image.data = Enumerable.Repeat((byte)0x20, ImageDataSize).ToArray();
rosSocket.Publish(publication_id, image);
}
Console.WriteLine("Press any key to close...");
Console.ReadKey(true);
rosSocket.Unadvertise(publication_id);
rosSocket.Close();
}
void Publish()
{
string message = "Hi " + count++;
rosSocket.Publish("/chatter", new std_msgs.String(message));
// Publication:
int ImageDataSize = 100;
sensor_msgs.CompressedImage image = new sensor_msgs.CompressedImage();
image.header.frame_id = "Test";
image.header.seq += 1;
image.data = Enumerable.Repeat((byte)0x20, ImageDataSize).ToArray();
rosSocket.Publish(publication_id, image);
Debug.Log("Publish: " + message);
}
