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();
}
void Start()
{
GameObject Connector = GameObject.FindWithTag("Connector");
socket = Connector.GetComponent <RosConnector>()?.RosSocket;
publication_id = socket.Advertise <std_msgs.String>("/speech");
message = new std_msgs.String();
say("Hallo, ich bin Mino. Du bist erfolgreich verbunden.");
}
public void PublicationTest()
{
string id = RosSocket.Advertise <std_msgs.String>("/publication_test");
std_msgs.String message = new std_msgs.String("publication test message data");
RosSocket.Publish(id, message);
RosSocket.Unadvertise(id);
Thread.Sleep(100);
Assert.IsTrue(true);
}
// Update is called once per frame
void Update()
{
rosSocketIsAlive = rosSocket.protocol.IsAlive();
// Publication:
string publication_id = rosSocket.Advertise <std_msgs.String>("publication_test");
std_msgs.String message = new std_msgs.String();
message.data = "publication test message data";
rosSocket.Publish(publication_id, message);
}
// Publish string to ROS
public void PublishString(string topic, string msg)
{
// Create new standard string and set its data to msg
std_msgs.String message = new std_msgs.String {
data = msg
};
string publicationId = rosSocket.Advertise <std_msgs.String>(topic); // Topic must be in "/topic" format
rosSocket.Publish(publicationId, message);
Debug.Log("Sent:" + msg);
}
public void PublicationTest()
{
string id = RosSocket.Advertise <std_msgs.String>("/publication_test");
std_msgs.String message = new std_msgs.String
{
data = "publication test message data"
};
try
{
RosSocket.Publish(id, message);
RosSocket.Unadvertise(id);
Thread.Sleep(100);
Assert.IsTrue(true);
}
catch (System.Exception)
{
Assert.IsTrue(false);
throw;
}
}
private static void SubscriptionHandler(std_msgs.String message)
{
Console.WriteLine((message).data);
}
private static void SubscriptionHandler(std_msgs.String message)
{
Debug.Log((message).data);
}
private void ROSResponse(Messages.Standard.String response)
{
#if DEBUG
System.Diagnostics.Debug.WriteLine(response.data);
#endif
}
private void SubscriptionHandler(std_msgs.String message)
{
OnMessageReceived.Set();
}
