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>(); }