Class ZOROSBridgeConnection

Inheritance

System.Object

ZOROSBridgeConnection

Inherited Members

System.Object.Equals(System.Object)

System.Object.Equals(System.Object, System.Object)

System.Object.GetHashCode()

System.Object.GetType()

System.Object.MemberwiseClone()

System.Object.ReferenceEquals(System.Object, System.Object)

System.Object.ToString()

Namespace: ZO.ROS

Assembly: Unity.ZeroSim.dll

Syntax

public class ZOROSBridgeConnection

Properties

Hostname

Hostname or IP addresss

Declaration

public string Hostname { get; set; }

Property Value

Type	Description
System.String

Instance

Declaration

public static ZOROSBridgeConnection Instance { get; }

Property Value

Type	Description
ZOROSBridgeConnection

IsConnected

Checks if the ROS Bridge is connected.

Declaration

public bool IsConnected { get; }

Property Value

Type	Description
System.Boolean

Port

TCP Port. Do not recommend changing.

Declaration

public int Port { get; set; }

Property Value

Type	Description
System.Int32

Serialization

Declaration

public ZOROSBridgeConnection.SerializationType Serialization { get; set; }

Property Value

Type	Description
ZOROSBridgeConnection.SerializationType

Methods

Advertise(String, String, String)

Advertise a ROS message topic.

Declaration

public void Advertise(string topic, string type, string id = "zero_sim_unity")

Parameters

Type	Name	Description
System.String	topic	ROS topic. For example: "/cmd_vel"
System.String	type	ROS message type. For example "geometry_msgs/Twist"
System.String	id	ROS node id. Default "zero_sim_unity"

AdvertiseService<T>(String, String, Func<ZOROSBridgeConnection, ZOROSMessageInterface, String, Task>)

Advertises an external ROS service server. Requests come to the client via Call Service.

Declaration

public void AdvertiseService<T>(string service, string type, Func<ZOROSBridgeConnection, ZOROSMessageInterface, string, Task> serviceRequest)

    where T : ZOROSMessageInterface

Parameters

Type	Name	Description
System.String	service	The name of the service to advertise.
System.String	type	The advertised service message type.
System.Func<ZOROSBridgeConnection, ZOROSMessageInterface, System.String, System.Threading.Tasks.Task>	serviceRequest

Type Parameters

Name	Description
T

CallService<T, R>(T, String, String, Func<ZOROSBridgeConnection, ZOROSMessageInterface, Task>)

Call ROS service.

Declaration

public void CallService<T, R>(T calling_message, string service, string id, Func<ZOROSBridgeConnection, ZOROSMessageInterface, Task> serviceCallResponse)

    where T : ZOROSMessageInterface where R : ZOROSMessageInterface

Parameters

Type	Name	Description
T	calling_message	The calling message
System.String	service	Service name
System.String	id	Unique ID. Important to be Unique!
System.Func<ZOROSBridgeConnection, ZOROSMessageInterface, System.Threading.Tasks.Task>	serviceCallResponse	Callback when service responds

Type Parameters

Name	Description
T	Service call message type
R	Service response message type

ConnectAsync()

Asynchronously connect to ROS Bridge server.

Declaration

public Task ConnectAsync()

Returns

Type	Description
System.Threading.Tasks.Task	Task

Examples

    // run async task.  if cannot connect wait for a couple of seconds and try again
    Task rosBridgeConnectionTask = Task.Run(async () => {
       await _rosBridgeConnection.ConnectAsync();
    });

Publish<T>(T, String, String)

Publish message to topic.

Declaration

public void Publish<T>(T message, string topic, string id = "zero_sim_unity")

    where T : ZOROSMessageInterface

Parameters

Type	Name	Description
T	message	ROS Message type
System.String	topic	ROS Topic
System.String	id	Unique ID of sender.

Type Parameters

Name	Description
T	ROS Message derived from ZOROSMessageInterface

SendBSON(JObject)

Declaration

public void SendBSON(JObject json)

Parameters

Type	Name	Description
Newtonsoft.Json.Linq.JObject	json

SendBSON(Byte[])

Declaration

public void SendBSON(byte[] byteArray)

Parameters

Type	Name	Description
System.Byte[]	byteArray

SendBSON(MemoryStream)

Declaration

public void SendBSON(MemoryStream memoryStream)

Parameters

Type	Name	Description
System.IO.MemoryStream	memoryStream

SendBSONAsync(JObject)

Declaration

public Task SendBSONAsync(JObject json)

Parameters

Type	Name	Description
Newtonsoft.Json.Linq.JObject	json

Returns

Type	Description
System.Threading.Tasks.Task

SendBSONAsync(Byte[])

Declaration

public Task SendBSONAsync(byte[] byteArray)

Parameters

Type	Name	Description
System.Byte[]	byteArray

Returns

Type	Description
System.Threading.Tasks.Task

SendBSONAsync(MemoryStream)

Declaration

public Task SendBSONAsync(MemoryStream memoryStream)

Parameters

Type	Name	Description
System.IO.MemoryStream	memoryStream

Returns

Type	Description
System.Threading.Tasks.Task

SendJSONString(String)

Declaration

public void SendJSONString(string message)

Parameters

Type	Name	Description
System.String	message

SendJSONStringAsync(String)

Declaration

public Task SendJSONStringAsync(string message)

Parameters

Type	Name	Description
System.String	message

Returns

Type	Description
System.Threading.Tasks.Task

ServiceResponse<T>(T, String, Boolean, String)

Send a response to a service call. NOTE: id parameter is very important.

Declaration

public void ServiceResponse<T>(T response_message, string service, bool result, string id)

    where T : ZOROSMessageInterface

Parameters

Type	Name	Description
T	response_message	the return values. If the service had no return values, then this field can be omitted (and will be by the rosbridge server)
System.String	service	the name of the service that was called
System.Boolean	result
System.String	id	if an ID was provided to the service request, then the service response will contain the ID

Type Parameters

Name	Description
T	Response message

Stop()

Stops ROS Bridge TCP Connection.

Declaration

public void Stop()

Subscribe<T>(String, String, String, Func<ZOROSBridgeConnection, ZOROSMessageInterface, Task>)

This command subscribes the client to the specified topic. It is recommended that if the client has multiple components subscribing to the same topic, that each component makes its own subscription request providing an ID. That way, each can individually unsubscribe and rosbridge can select the correct rate at which to send messages.

type – the (expected) type of the topic to subscribe to. If left off, type will be inferred, and if the topic doesn't exist then the command to subscribe will fail topic – the name of the topic to subscribe to throttle_rate – the minimum amount of time (in ms) that must elapse between messages being sent. Defaults to 0 queue_length – the size of the queue to buffer messages. Messages are buffered as a result of the throttle_rate. Defaults to 1. id – if specified, then this specific subscription can be unsubscribed by referencing the ID. fragment_size – the maximum size that a message can take before it is to be fragmented. compression – an optional string to specify the compression scheme to be used on messages. Valid values are "none" and "png"

If queue_length is specified, then messages are placed into the queue before being sent. Messages are sent from the head of the queue. If the queue gets full, the oldest message is removed and replaced by the newest message.

If a client has multiple subscriptions to the same topic, then messages are sent at the lowest throttle_rate, with the lowest fragmentation size, and highest queue_length. It is recommended that the client provides IDs for its subscriptions, to enable rosbridge to effectively choose the appropriate fragmentation size and publishing rate.

Declaration

public void Subscribe<T>(string id, string topic, string type, Func<ZOROSBridgeConnection, ZOROSMessageInterface, Task> subscriptionCallback)

    where T : ZOROSMessageInterface

Parameters

Type	Name	Description
System.String	id	f specified, then this specific subscription can be unsubscribed by referencing the ID.
System.String	topic	the name of the topic to subscribe to
System.String	type	ROS message type
System.Func<ZOROSBridgeConnection, ZOROSMessageInterface, System.Threading.Tasks.Task>	subscriptionCallback	Called when message is received.

Type Parameters

Name	Description
T	ZOROSMessageInterface

UnAdvertise(String)

Unadvertise a ROS message topic.

Declaration

public void UnAdvertise(string topic)

Parameters

Type	Name	Description
System.String	topic

UnAdvertiseService(String)

Stops advertising an external ROS service server

Declaration

public void UnAdvertiseService(string service)

Parameters

Type	Name	Description
System.String	service	the name of the service to unadvertise

Unsubscribe(String, String)

Unsubscribe a ROS message topic.

Declaration

public void Unsubscribe(string id, string topic)

Parameters

Type	Name	Description
System.String	id
System.String	topic

Events

_disconnectEvent

Declaration

public event ZOROSBridgeConnection.ROSBridgeConnectionChangeHandler _disconnectEvent

Event Type

Type	Description
ZOROSBridgeConnection.ROSBridgeConnectionChangeHandler

ROSBridgeConnectEvent

Event that is called when connected to ROS bridge.

Declaration

public event ZOROSBridgeConnection.ROSBridgeConnectionChangeHandler ROSBridgeConnectEvent

Event Type

Type	Description
ZOROSBridgeConnection.ROSBridgeConnectionChangeHandler

ROSBridgeDisconnectEvent

Event called when disconnected from ROS Bridge

Declaration

public event ZOROSBridgeConnection.ROSBridgeConnectionChangeHandler ROSBridgeDisconnectEvent

Event Type

Type	Description
ZOROSBridgeConnection.ROSBridgeConnectionChangeHandler