public void Terminate() { rosSocket.Unadvertise(statusPublicationID); rosSocket.Unadvertise(feedbackPublicationID); rosSocket.Unadvertise(resultPublicationID); rosSocket.Unsubscribe(cancelSubscriptionID); rosSocket.Unsubscribe(goalSubscriptionID); }
private void button13_Click(object sender, EventArgs e) { rosSocket.Unsubscribe(zm_robot_pose); rosSocket.Unsubscribe(zm_robot_vel); rosSocket.Unadvertise(zm_robot_vel_pub); thr_subscriber.Abort(); rosSocket.Close(); label20.Text = "Disconection success."; button1.Enabled = true; button13.Enabled = false; button14.Enabled = false; }
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: std_msgs.String message = new std_msgs.String("publication test message 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")); 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..."); Console.ReadKey(true); rosSocket.Unadvertise(publication_id); rosSocket.Unsubscribe(subscription_id); rosSocket.UnadvertiseService(service_id); Console.WriteLine("Press any key to close..."); Console.ReadKey(true); rosSocket.Close(); }
public void SubscriptionTest() { string id = RosSocket.Subscribe <std_msgs.String>("/subscription_test", SubscriptionHandler); OnMessageReceived.WaitOne(); OnMessageReceived.Reset(); RosSocket.Unsubscribe(id); Thread.Sleep(100); Assert.IsTrue(true); }
public void Dispose() { Container = null; _socket?.Unsubscribe(_subscriptionId); _socket = null; }