void Start()
{
if (!ConfigManager.Instance.configInfo.rosbridgeIP.Equals(string.Empty))
{
this.rosBridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP;
this.rosBridgePort = ConfigManager.Instance.configInfo.rosbridgePort;
}
this.webSocketConnection = new SIGVerse.RosBridge.RosBridgeWebSocketConnection(rosBridgeIP, rosBridgePort);
this.webSocketConnection.Subscribe <RosBridge.human_navigation.HumanNaviGuidanceMsg>(receivingTopicName, this.SubscribeHumanNaviGuidanceMessageCallback);
// Connect to ROSbridge server
this.webSocketConnection.Connect();
}
void Start()
{
if (this.rosbridgeIP.Equals(string.Empty))
{
this.rosbridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP;
}
if (this.rosbridgePort == 0)
{
this.rosbridgePort = ConfigManager.Instance.configInfo.rosbridgePort;
}
this.webSocketConnection = new SIGVerse.RosBridge.RosBridgeWebSocketConnection(this.rosbridgeIP, this.rosbridgePort);
this.webSocketConnection.Subscribe <SIGVerse.RosBridge.geometry_msgs.Twist>(topicName, this.TwistCallback);
// Connect to ROSbridge server
this.webSocketConnection.Connect();
}
private Dictionary <string, Transform> transformMap; // key:joint name, value:link transform
// Use this for initialization
void Start()
{
if (this.rosbridgeIP.Equals(string.Empty))
{
this.rosbridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP;
}
if (this.rosbridgePort == 0)
{
this.rosbridgePort = ConfigManager.Instance.configInfo.rosbridgePort;
}
this.transformMap = TurtleBot3Common.GetJointNameToLinkMap(this.transform);
this.webSocketConnection = new SIGVerse.RosBridge.RosBridgeWebSocketConnection(this.rosbridgeIP, this.rosbridgePort);
this.webSocketConnection.Subscribe <SIGVerse.RosBridge.sensor_msgs.JointState>(topicName, this.JointStateCallback);
// Connect to ROSbridge server
this.webSocketConnection.Connect <SIGVerse.RosBridge.sensor_msgs.JointState>();
}
