public void TestChannels()
{
const string topicName = "/my_test_topic_xyz";
using var client = new RosClient(MasterUri, CallerId, CallerUri);
using var publisher = new RosChannelWriter <String>(client, topicName);
publisher.LatchingEnabled = true;
var systemState = client.GetSystemState();
Assert.True(
systemState.Publishers.Any(tuple => tuple.Topic == topicName && tuple.Members.Contains(CallerId)));
const string msgText = "test message";
publisher.Write(new String(msgText));
using var subscriber = new RosChannelReader <String>(client, topicName);
using var source = new CancellationTokenSource(5000);
foreach (var msg in subscriber.ReadAll(source.Token))
{
if (msg.Data == msgText)
{
break;
}
}
}
// this gets called when we're connected to the master
async void Start()
{
Uri masterUri = new Uri("http://141.3.59.5:11311");
Uri myUri = RosClient.TryGetCallerUriFor(masterUri, 7635) ?? RosClient.TryGetCallerUri(7635);
connectionClient = await RosClient.CreateAsync(masterUri, "/iviz_test", myUri);
scenePublisher = new RosChannelWriter <PlanningScene> {
LatchingEnabled = true
};
await scenePublisher.StartAsync(connectionClient, "/move_group/monitored_planning_scene");
//Logger.LogDebug = Debug.Log;
Logger.Log = Debug.Log;
Logger.LogError = Debug.LogWarning;
Debug.Log($"{this}: Connected!");
while (true)
{
if (this == null)
{
return;
}
// keep checking whether the moveit_test node is on
const string trajectoryService = "/moveit_test/calculate_trajectory";
var systemState = await connectionClient.GetSystemStateAsync();
bool hasService = systemState.Services.Any(service => service.Topic == trajectoryService);
if (hasService)
{
break;
}
Debug.LogWarning($"{this}: Service not detected! Retrying...");
await Task.Delay(2000);
}
Debug.Log($"{this}: Service found. Starting robot and listeners.");
// generate two robots: 'robot' for the real robot, and 'planRobot' for the plan
await GenerateRobotAsync();
// start listening to the joints topic
// these joints apply only for 'robot'.
jointsListener = new RosChannelReader <JointState>();
await jointsListener.StartAsync(connectionClient, "/joint_states");
// here we create a new collision object for the scene
PlanningScene scene = new PlanningScene();
scene.Name = "(noname+)"; // taken from rviz
scene.World.CollisionObjects = new[]
