public void Setup() { RosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(Uri)); }
// Start is called before the first frame update void Start() { this.RosSocket = this.RosConnector.RosSocket; }
// Start is called before the first frame update void Start() { // Subscribe once to joint_states ROS topic for raven2 robot rosSocket = GameObject.Find("ROSConnection").GetComponent <ROSConnection>().getRosSocket(); string subscription_id = rosSocket.Subscribe <sensor_msgs.JointState>("/joint_states", JointStateHandler); }
public void Awake() { RosSocket = new RosSocket(RosBridgeServerUrl); Debug.Log("Connected to RosBridge: " + RosBridgeServerUrl); }
void Update() // public static void Main(string[] args) { if (help == true) { help = false; //RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketSharpProtocol(uri)); RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(uri)); // Publication: std_msgs.String message = new std_msgs.String { data = "publication test masdasdessage data" }; string publication_id = rosSocket.Advertise <std_msgs.String>("publication_test"); rosSocket.Publish(publication_id, message); // Subscription: string subscription_id = rosSocket.Subscribe <std_msgs.String>("/subscription_test", SubscriptionHandler); subscription_id = rosSocket.Subscribe <std_msgs.String>("/subscription_test", SubscriptionHandler); // Service Call: rosSocket.CallService <rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param", ServiceCallHandler, new rosapi.GetParamRequest("/rosdistro", "default")); // Service Response: string service_id = rosSocket.AdvertiseService <std_srvs.TriggerRequest, std_srvs.TriggerResponse>("/service_response_test", ServiceResponseHandler); //Console.WriteLine("Press any key to unsubscribe..."); Debug.Log("Press any key to unsubscribe..."); // Console.ReadKey(true); rosSocket.Unadvertise(publication_id); rosSocket.Unsubscribe(subscription_id); rosSocket.UnadvertiseService(service_id); //Console.WriteLine("Press any key to close..."); Debug.Log("Press any key to close..."); //Console.ReadKey(true); rosSocket.Close(); help = true; } }
public ServiceReceiver(RosSocket rosSocket, string service, Tin parameter, object handlerParameter) { ServiceParameter = parameter; HandlerParameter = handlerParameter; rosSocket.CallService <Tin, Tout>(service, Receive, ServiceParameter); }
// Use this for initialization void Start() { rosSocket = GameObject.Find("drone").GetComponent <RosConnector>().RosSocket; droneBody = GameObject.Find("drone").GetComponent <Rigidbody>(); publication_id = rosSocket.Advertize("drone/gps", "sensor_msgs/NavSatFix"); }
public void Init() { rosSocket = GetComponent <HSR_Connector>().RosSocket; rosSocket.Subscribe("/yolo_object_coordinate", "visualization_msgs/MarkerArray", Yolo_Res, UpdateTime); }
public OdometryHandler(ISourceTree container, RosSocket socket, string topic) : base( container, socket, topic) { }
void Start() { GameObject Connector = GameObject.FindWithTag("Connector"); socket = Connector.GetComponent <RosConnector>()?.RosSocket; }