public void Start() { cancelPublicationID = socket.Advertise <GoalID>(actionName + "/cancel"); goalPublicationID = socket.Advertise <TActionGoal>(actionName + "/goal"); socket.Subscribe <GoalStatusArray>(actionName + "/status", StatusCallback, (int)(timeStep * 1000)); socket.Subscribe <TActionFeedback>(actionName + "/feedback", FeedbackCallback, (int)(timeStep * 1000)); socket.Subscribe <TActionResult>(actionName + "/result", ResultCallback, (int)(timeStep * 1000)); }
// Use this for initialization void Start() { rosSocket = GetComponent <RosConnector>().RosSocket; Debug.Log("PLANTOPIC: " + PlanTopic); planPublicationId = rosSocket.Advertise(PlanTopic, "ros_reality_bridge_msgs/MoveitTarget"); executePublicationId = rosSocket.Advertise(ExecuteTopic, "std_msgs/String"); ResetBackend(); //FadeManager.AssertIsInitialized(); }
public abstract Tgoal GetGoal(); // to be implemented by user protected virtual void Start() { rosSocket = GetComponent <RosConnector>().RosSocket; CancelPublicationId = rosSocket.Advertise <Messages.Actionlib.GoalID>(ActionName + "/cancel"); GoalPublicationId = rosSocket.Advertise <Tgoal>(ActionName + "/goal"); rosSocket.Subscribe <Messages.Actionlib.GoalStatusArray>(ActionName + "/status", StatusCallback, (int)(TimeStep * 1000)); rosSocket.Subscribe <Tfeedback>(ActionName + "/feedback", FeedbackCallback, (int)(TimeStep * 1000)); rosSocket.Subscribe <Tresult>(ActionName + "/result", ResultCallback, (int)(TimeStep * 1000)); }
public void Start() { statusPublicationId = socket.Advertise <GoalStatusArray>(actionName + "/status"); feedbackPublicationId = socket.Advertise <TActionFeedback>(actionName + "/feedback"); resultPublicationId = socket.Advertise <TActionResult>(actionName + "/result"); socket.Subscribe <GoalID>(actionName + "/cancel", CancelCallback, (int)(timeStep * 1000)); socket.Subscribe <TActionGoal>(actionName + "/goal", GoalCallback, (int)(timeStep * 1000)); UpdateAndPublishStatus(ActionStatus.PENDING); }
protected abstract void GoalHandle(Tgoal goal); // to be implemented by user protected void Start() { rosSocket = GetComponent <RosConnector>().RosSocket; ActionState = ActionStates.Pending; rosSocket.Subscribe <Messages.Actionlib.GoalID>(ActionName + "/cancel", CancelCallback, (int)(TimeStep * 1000)); rosSocket.Subscribe <Tgoal>(ActionName + "/goal", GoalCallback, (int)(TimeStep * 1000)); StatusPublicationId = rosSocket.Advertise <Messages.Actionlib.GoalStatusArray>(ActionName + "/status"); FeedbackPublicationId = rosSocket.Advertise <Tfeedback>(ActionName + "/feedback"); ResultPublicationId = rosSocket.Advertise <Tresult>(ActionName + "/result"); }
protected virtual void Start() { rosSocket = GetComponent <RosConnector>().RosSocket; publicationId = rosSocket.Advertise(Topic, MessageTypes.RosMessageType(MessageProvider.MessageType)); PublicationEvent += ReadMessage; }
// Use this for initialization void Start() { displayMessages = new Dictionary <string, float>(); red = new Color(1f, 0f, 0f, 0.5f); blue = new Color(0f, 0f, 1f, 0.5f); offRed = new Color(1f, 0f, 0.3f, 0.5f); offBlue = new Color(0.3f, 0f, 1f, 0.5f); print("Starting ROSBRIDGE and ROSSHARP!"); rosSocket = GetComponent <RosConnector>().RosSocket; rosSocket.Subscribe(agent_topic, "gameworld_simulation/Agent", agentSubscriber, UpdateTime); rosSocket.Subscribe(construction_task_topic, "gameworld_simulation/ConstructionTask", constuctionTaskSubscriber, UpdateTime); rosSocket.Subscribe(transport_task_topic, "gameworld_simulation/TransportTask", transportationTaskSubscriber, UpdateTime); rosSocket.Subscribe(ros_update_message_topic, "std_msgs/String", updateMessageSubscriber, UpdateTime); updateID = rosSocket.Advertise(game_update_topic, "std_msgs/String"); inputID = rosSocket.Advertise(user_input_topic, "std_msgs/String"); message.data = "start"; rosSocket.Publish(updateID, message); lineMaterial = Resources.Load("Material/tile_ceilingPanel_fx", typeof(Material)) as Material; }
// Use this for initialization void Start() { rosSocket = GetComponent <RosConnector>().RosSocket; //planPublicationId = rosSocket.Advertise(PlanTopic, "ros_reality_bridge_msgs/MoveitTarget"); executePublicationId = rosSocket.Advertise(ExecuteTopic, "std_msgs/String"); }