public RosLogger(ROSBridgeWebSocketConnection ros) { _ros = ros; _propertypub = _ros.Advertise <PropertyChanged>("/sgv/onto/property_changed"); _objpub = _ros.Advertise <ObjUpdate>("/sgv/onto/object_moved"); _simstatepub = _ros.Advertise <SimulationStateChange>("/sgv/simulation_state_changed"); ScenarioLogManager.Instance.Subscribe(this); _simstatepub.Publish( new SimulationStateChange( SimulationStateChange.SIMULATION_LOADED, new ROSBridgeLib.msg_helpers.Time(0.0f) ) ); }
void initROSComms(ROSBridgeWebSocketConnection ros) { if (!ros.connected) { return; } onto_list_srv = ros.Advertise <GetAllClassInstances, GetAllClassInstancesRequest, GetAllClassInstancesResponse>("/sgv/onto/GetAllClassInstances", onGetAllClassInstances); onto_list_with_pose_srv = ros.Advertise <GetAllClassInstancesWithPoses, GetAllClassInstancesWithPosesRequest, GetAllClassInstancesWithPosesResponse>("/sgv/onto/GetAllClassInstancesWithPoses", onGetAllClassInstancesWithPoses); relabelObject_srv = ros.Advertise <RelabelObject, RelabelObjectRequest, RelabelObjectResponse>("/sgv/sim/RelabelObject", onRelabelObject); l_hand_pub = ros.Advertise <ROSBridgeLib.ontology_msgs.HandUpdate>("/sgv/human/hands/left"); r_hand_pub = ros.Advertise <ROSBridgeLib.ontology_msgs.HandUpdate>("/sgv/human/hands/right"); _rosLogger = new RosLogger(ros); _ready = true; }
void Start() { if (this.rosBridgeIP.Equals(string.Empty)) { this.rosBridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP; } if (this.rosBridgePort == 0) { this.rosBridgePort = ConfigManager.Instance.configInfo.rosbridgePort; } this.webSocketConnection = new SIGVerse.ROSBridge.ROSBridgeWebSocketConnection(rosBridgeIP, rosBridgePort); this.publisher = this.webSocketConnection.Advertise <Tmsg>(sendingTopicName); // Connect to ROSbridge server this.webSocketConnection.Connect(); }
void Start() { if (this.rosBridgeIP.Equals(string.Empty)) { this.rosBridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP; } if (this.rosBridgePort == 0) { this.rosBridgePort = ConfigManager.Instance.configInfo.rosbridgePort; } this.webSocketConnection = new SIGVerse.ROSBridge.ROSBridgeWebSocketConnection(rosBridgeIP, rosBridgePort); this.jointStatePublisher = this.webSocketConnection.Advertise <JointState>(topicName); // Connect to ROSbridge server this.webSocketConnection.Connect(); this.jointState = new JointState(); this.jointState.header = new Header(0, new SIGVerse.ROSBridge.msg_helpers.Time(0, 0), "hsrb_joint_states"); this.jointState.name = new List <string>(); this.jointState.name.Add(HSRCommon.ArmLiftJointName); //1 this.jointState.name.Add(HSRCommon.ArmFlexJointName); //2 this.jointState.name.Add(HSRCommon.ArmRollJointName); //3 this.jointState.name.Add(HSRCommon.WristFlexJointName); //4 this.jointState.name.Add(HSRCommon.WristRollJointName); //5 this.jointState.name.Add(HSRCommon.HeadPanJointName); //6 this.jointState.name.Add(HSRCommon.HeadTiltJointName); //7 this.jointState.position = null; this.jointState.velocity = new List <double> { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; this.jointState.effort = new List <double> { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; }