protected sealed override void StartAgent(ROSBridgeWebSocketConnection rosConnection, string topicName, string messageType)
{
TopicName = topicName;
MessageType = messageType;
ROSConnection = rosConnection;
ROSConnection.AddSubscriber(this);
}
void Start()
{
// Where the rosbridge instance is running, could be localhost, or some external IP
ros = new ROSBridgeLib.ROSBridgeWebSocketConnection("ws://" + IP, 9090);
ros.AddSubscriber(typeof(TestSubscriber));
ros.Connect();
}
void Start()
{
ROSHost = "ws://" + ROSHost;
ros = new ROSBridgeLib.ROSBridgeWebSocketConnection(ROSHost, ROSPort);
pose_sub = ros.Subscribe <SimplePoseArray>("/unity/simple_bot/pose", OnNewPoseMsg);
hand_sub = ros.Subscribe <ROSBridgeLib.simple_unity_bot.HandState>("/unity/simple_bot/hands", OnNewHandMsg);
pose_pub = ros.Advertise <SimplePoseArray>("/unity/simple_bot/target_pose");
hand_pub = ros.Advertise <ROSBridgeLib.simple_unity_bot.HandState>("/unity/simple_bot/hand_targets");
ros.Connect();
}
/// <summary>
/// Obtain the unique ROSBridgeWebSocketConnection object for a given address and port.
/// </summary>
/// <param name="address">The network or web address of the rosbridge server.</param>
/// <param name="port">The port that the rosbridge server uses on the remote machine.</param>
/// <returns></returns>
public ROSBridgeWebSocketConnection GetConnection(string address, int port)
{
string full_address = string.Format("ws://{0}:{1}", address, port);
ROSBridgeWebSocketConnection conn;
lock (connection_lock)
{
// Check whether a connection has already been established for this address/port pair.
if (!connections.TryGetValue(full_address, out conn))
{
Debug.Log("Starting submap connection to " + full_address);
conn = new ROSBridgeWebSocketConnection("ws://" + address, port);
conn.Connect();
connections[full_address] = conn;
}
}
return(conn);
}
public void SetBridgeConnection(ROSBridgeWebSocketConnection ros)
{
_ros = ros;
}
