public static void Main(string[] args)
{
Context ctx = new Context();
Rclcs.Init(ctx);
INode node = Rclcs.CreateNode("talker", ctx);
IPublisher <std_msgs.msg.String> chatter_pub = node.CreatePublisher <std_msgs.msg.String>("chatter");
std_msgs.msg.String msg = new std_msgs.msg.String();
int i = 1;
while (Rclcs.Ok(ctx))
{
// adamdbrw - if no at least small sleep is made before
// the first published message, it doesn't reach subscribers
// Needs investigation for how to put a valid check here
// TODO (adam) replace with a proper check
Thread.Sleep(500);
msg.Data = "Hello World: " + i;
i++;
Console.WriteLine("Publishing: \"" + msg.Data + "\"");
chatter_pub.Publish(msg);
Thread.Sleep(500);
}
Rclcs.Shutdown(ctx);
}
public void CreateNodeWithInvalidName()
{
string nodeName = "create_node_test_invaild_name?";
Assert.That(() => { Rclcs.CreateNode(nodeName, context).DestroyNode(); },
Throws.TypeOf <InvalidNodeNameException>());
}
public void CreateNodeWithInvalidRelativeNamespace()
{
string nodeName = "create_node_test_invalid_namespace";
string nodeNamespace = "invalid_namespace?";
Assert.That(() => { Rclcs.CreateNode(nodeName, context, nodeNamespace: nodeNamespace).DestroyNode(); },
Throws.TypeOf <InvalidNamespaceException>());
}
public void CreateNodeWithRelativeNamespace()
{
string nodeName = "create_node_test";
string nodeNamespace = "ns";
Node node = Rclcs.CreateNode(nodeName, context, nodeNamespace: nodeNamespace);
Assert.That(node.Namespace, Is.EqualTo("/ns"));
node.Dispose();
}
public static void Main(string[] args)
{
Context ctx = new Context();
Rclcs.Init(ctx);
INode node = Rclcs.CreateNode("listener", ctx);
ISubscription <std_msgs.msg.String> chatter_sub = node.CreateSubscription <std_msgs.msg.String>(
"chatter", msg => Console.WriteLine("I heard: [" + msg.Data + "]"));
Rclcs.Spin(node, ctx);
Rclcs.Shutdown(ctx);
}
public void SetUp()
{
context = new Context();
Rclcs.Init(context);
node = Rclcs.CreateNode(TEST_NODE, nodeNamespace: TEST_NAMESPACE, context: context);
}
public void CreateNodeWithoutInit()
{
Context context = new Context();
Assert.That(() => { Rclcs.CreateNode("foo", context); }, Throws.TypeOf <NotInitializedException>());
}
public void CreateNode()
{
string nodeName = "create_node_test";
Rclcs.CreateNode(nodeName, context).Dispose();
}