static void Main(string[] args) { //////////////////////// ////'/DriveCommands', 'neo_serrelayboard/DriveCommas', '{"angularVelocity":[0.1,0.1],"driveActive":[1,1],"quickStop":[0,0],"disableBrake":[1,1]}' RosBridgeDotNet.RosBridgeDotNet kapcs = new RosBridgeDotNet.RosBridgeDotNet("10.2.5.194"); string topic = "/DriveCommands"; string msgtype = "neo_serrelayboard/DriveCommands"; double[] sebesseg = { 0.0, 0.0 }; bool[] igaz = { true, true }; bool[] hamis = { false, false }; //RosBridgeDotNet.RosBridgeDotNet.FreeString = new RosBridgeDotNet.RosBridgeDotNet.FreeString(); RosBridgeDotNet.RosBridgeDotNet.Neobotix neo = new RosBridgeDotNet.RosBridgeDotNet.Neobotix(sebesseg, igaz, hamis, igaz); Console.WriteLine(kapcs.Connected ? "Kapcsolodva." : "Sikertelen kapcs."); Console.ReadKey(); //kapcs.Subscribe(); kapcs.Publish(topic, msgtype, neo); Console.ReadKey(); kapcs.CloseConnection(); //////////////////////// ////'/turtle1/command_velocity', 'turtlesim/Velocity', '{"linear":1, "angular":0}' //RosBridgeDotNet.RosBridgeDotNet r = new RosBridgeDotNet.RosBridgeDotNet("10.2.5.194"); //string receiver = "/turtle1/command_velocity"; //string type = "turtlesim/Velocity"; //RosBridgeDotNet.RosBridgeDotNet.TurtleSim turtle = new RosBridgeDotNet.RosBridgeDotNet.TurtleSim(1.8, 0.5); //Console.WriteLine(r.Connected ? "Connected" : "Not connected."); //Console.ReadKey(); ////rostopic pub -1 /turtle1/command_velocity turtlesim/Velocity -- 1 0 //r.Publish(receiver, type, turtle); //turtle.linear = 1; //Console.WriteLine("1"); //Console.ReadKey(); //r.Publish(receiver, type, turtle); //Console.WriteLine("2"); //Console.ReadKey(); //r.Publish(receiver, type, turtle); //r.CloseConnection(); //Console.WriteLine("Closed"); }
static void Main(string[] args) { RosBridgeDotNet.RosBridgeDotNet turtleConnection = new RosBridgeDotNet.RosBridgeDotNet("10.2.230.124"); string topic = "/turtle1/command_velocity"; string msgtype = "turtlesim/Velocity"; Console.WriteLine(turtleConnection.Connected ? "Connected." : "No connection :("); if (turtleConnection.Connected) { ////'/turtle1/command_velocity', 'turtlesim/Velocity', '{"linear":20, "angular":20}' RosBridgeDotNet.RosBridgeDotNet.TurtleSim turtleGo1 = new RosBridgeDotNet.RosBridgeDotNet.TurtleSim(20, 20); turtleConnection.Publish(topic, msgtype, turtleGo1); //Console.WriteLine("Published: " + topic + " " + msgtype + " " + turtleGo1.linear + " " + turtleGo1.angular); //turtleConnection.Subscribe(); turtleConnection.CloseConnection(); Console.WriteLine("Connection closed, press a key."); } else { Console.WriteLine("End."); } Console.ReadKey(); }