# RosSharp

**Repository Path**: xinzhi_git/ros-sharp

## Basic Information

- **Project Name**: RosSharp
- **Description**: 使用NET5开发的ROS通信库，包含例子,以及msg，srv生成工具
- **Primary Language**: C#
- **License**: BSD-2-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 16
- **Created**: 2022-05-26
- **Last Updated**: 2022-05-26

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

博客地址：(https://www.cnblogs.com/zjwno1/p/14085226.html)

本代码是基于uml-robotics的ROS.NET修改的
改善了Service服务端与客户端通信的数据问题，并修改成多平台使用
包括了
.netcore 3.0、.netcore 3.1 、.net5 、.netframework 4.0 、.netframework 4.5 、.netframework 4.6   

## ROS.Sharp是什么
ROS.Sharp是一款用C#开发ROS的库
我们可以使用这个库编写订阅者和发布者，Serice客户端和Service服务端，以及参数服务器操作。

## 如何使用
```
Install-Package ROS.Sharp -Version 1.1.0 
```

### 1.发布者
```
class Program
{
    static Thread thread;
    static void Main(string[] args)
    {
        ROS.ROS_MASTER_URI = "http://192.168.20.132:11311";
        ROS.ROS_HOSTNAME = "192.168.20.1";
        ROS.ROS_IP = "192.168.20.132";

        string nodeName = "bbb";
        ROS.Init(nodeName);
        NodeHandle nh = new NodeHandle();
        Publisher<Messages.std_msgs.String> pub = nh.Advertise<Messages.std_msgs.String>("/chatter", 1, false);
        thread = new Thread(() =>
        {
            int i = 0;
            while (ROS.ok)
            {
                i++;
                pub.Publish(new Messages.std_msgs.String { data = "Message" + i });
                if (i == 65536)
                    i = 0;
                Thread.Sleep(1000);
            }
        });
        thread.Start();
        Console.CancelKeyPress += Console_CancelKeyPress;
    }

    private static void Console_CancelKeyPress(object sender, ConsoleCancelEventArgs e)
    {
        ROS.Shutdown();
        ROS.WaitForShutdown();
    }
}
```

### 2.订阅者
```
class Program
{
    static void Main(string[] args)
    {
        ROS.ROS_MASTER_URI = "http://192.168.20.132:11311";
        ROS.ROS_HOSTNAME = "192.168.20.1";
        ROS.ROS_IP = "192.168.20.132";

        string nodeName = "aaa";
        ROS.Init(nodeName);
        NodeHandle nh = new NodeHandle();
        Subscriber<Messages.std_msgs.String> sub = nh.Subscribe<Messages.std_msgs.String>("/chatter", 10, subCallback);
        Console.CancelKeyPress += Console_CancelKeyPress;
    }

    private static void Console_CancelKeyPress(object sender, ConsoleCancelEventArgs e)
    {
        ROS.Shutdown();
        ROS.WaitForShutdown();
    }

    private static void subCallback(Messages.std_msgs.String argument)
    {
        Console.WriteLine(argument.data);
    }
}
```

### 3.服务服务端
```
class Program
{
    static void Main(string[] args)
    {
        ROS.ROS_MASTER_URI = "http://192.168.20.132:11311";
        ROS.ROS_HOSTNAME = "192.168.20.1";
        ROS.ROS_IP = "192.168.20.132";
        ROS.Init("ServiceServerTest");
        NodeHandle nodeHandle = new NodeHandle();
        ServiceServer server = nodeHandle.AdvertiseService<TwoInts.Request, TwoInts.Response>("/add_two_ints", addition);
        Console.CancelKeyPress += Console_CancelKeyPress;
    }

    private static bool addition(TwoInts.Request req, ref TwoInts.Response resp)
    {
        resp.sum = req.a + req.b;
        return true;
    }

    private static void Console_CancelKeyPress(object sender, ConsoleCancelEventArgs e)
    {
        ROS.Shutdown();
    }
}
```

### 4.服务客户端
```
class Program
{
    static void Main(string[] args)
    {
        ROS.ROS_MASTER_URI = "http://192.168.20.132:11311";
        ROS.ROS_HOSTNAME = "192.168.20.1";
        ROS.ROS_IP = "192.168.20.132";
        ROS.Init("ServiceClientTest");
        NodeHandle nodeHandle = new NodeHandle();
        new Thread(new ThreadStart(() =>
        {
            Random r = new Random();
            while (ROS.ok)
            {
                try
                {
                    TwoInts.Request req = new TwoInts.Request() { a = r.Next(100), b = r.Next(100) };
                    TwoInts.Response resp = new TwoInts.Response();
                    DateTime before = DateTime.Now;
                    bool res = nodeHandle.ServiceClient<TwoInts.Request, TwoInts.Response>("/add_two_ints").Call(req, ref resp);
                    TimeSpan dif = DateTime.Now.Subtract(before);

                    string str = "";
                    if (res)
                        str = "" + req.a + " + " + req.b + " = " + resp.sum + "\n";
                    else
                        str = "call failed after\n";
                    str += Math.Round(dif.TotalMilliseconds, 2) + " ms";
                    Console.WriteLine(str);
                }
                catch
                {

                }
                Thread.Sleep(500);
            }
        })).Start();
        Console.CancelKeyPress += Console_CancelKeyPress;
    }

    private static void Console_CancelKeyPress(object sender, ConsoleCancelEventArgs e)
    {
        ROS.Shutdown();
    }
}
```

### 5.参数服务器
```
class Program
{
    static void Main(string[] args)
    {
        ROS.ROS_MASTER_URI = "http://192.168.20.132:11311";
        ROS.ROS_HOSTNAME = "192.168.20.1";
        ROS.ROS_IP = "192.168.20.132";
        IDictionary remappings;
        RemappingHelper.GetRemappings(out remappings);
        Network.Init(remappings);
        Master.Init(remappings);
        ThisNode.Init("", remappings, (int)(InitOption.AnonymousName | InitOption.NoRousout));
        Param.Init(remappings);
        //获得所有参数
        List<string> list = Param.List();

        foreach (string s in list)
        {
            Console.WriteLine(s);
        }
        //获取参数值
        foreach (string s in list)
        {
            bool flag = Param.Has(s);
            if (!flag)
            {
                Console.WriteLine("不存在参数{0}", s);
                continue;
            }
            object obj = Param.Get(s);
            if (obj == null)
            {
                Console.WriteLine("获取参数失败");
                continue;
            }

            Console.WriteLine("参数：{0},值：{1}", s, obj);
        }
        //设置参数值
        //Param.set(key, value);
        //Param.del(key)
        Console.ReadKey();
    }
}
```

### 6.根据msg文件和srv文件生成代码
```
static void Main(string[] args)
{
    string inputDir = AppDomain.CurrentDomain.BaseDirectory + "common_msgs/";
    string outputdir = AppDomain.CurrentDomain.BaseDirectory + "Messages";
    Console.WriteLine("开始生成ROS Messages...\n");
    GenerateHelper.GenerateMsgAndSrv(inputDir, outputdir);
    Console.WriteLine("生成完成");
    Console.ReadLine();
}
```