Urdf Export

siemens · Sep 21, 2018 · acdd1ea · acdd1ea
1 parent 59cbaa9
commit acdd1ea
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Showing 273 changed files with 27,815 additions and 19,203 deletions.
diff --git a/.gitignore b/.gitignore
diff --git a/Libraries/RosBridgeClient/Protocols/WebSocketNetProtocol.cs b/Libraries/RosBridgeClient/Protocols/WebSocketNetProtocol.cs
@@ -55,7 +55,7 @@ public async void ConnectAsync()
         {
             await clientWebSocket.ConnectAsync(uri, cancellationToken);
             IsConnected.Set();
-            OnConnected(null, EventArgs.Empty);
+            OnConnected?.Invoke(null, EventArgs.Empty);
             StartListen();
         }
 
@@ -65,7 +65,7 @@ public async void Close()
             {
                 await clientWebSocket.CloseAsync(WebSocketCloseStatus.NormalClosure, string.Empty, CancellationToken.None);
                 IsConnected.Reset();
-                OnClosed(null, EventArgs.Empty);
+                OnClosed?.Invoke(null, EventArgs.Empty);
             }
         }
 
@@ -85,9 +85,7 @@ public async void SendAsync(byte[] message)
             IsConnected.WaitOne();
 
             if (clientWebSocket.State != WebSocketState.Open)
-            {
                 throw new WebSocketException(WebSocketError.InvalidState, "Error Sending Message. WebSocket State is: " + clientWebSocket.State);
-            }
 
             int messageCount = (int)Math.Ceiling((double)message.Length / SendChunkSize);
 
@@ -121,7 +119,7 @@ private async void StartListen()
 
                 } while (!result.EndOfMessage);
 
-                OnReceive.Invoke(this, new MessageEventArgs(memoryStream.ToArray()));
+                OnReceive?.Invoke(this, new MessageEventArgs(memoryStream.ToArray()));
             }
         }
     }

diff --git a/Libraries/RosBridgeClient/Protocols/WebSocketSharpProtocol.cs b/Libraries/RosBridgeClient/Protocols/WebSocketSharpProtocol.cs
@@ -57,17 +57,17 @@ public void Send(byte[] data)
 
         private void Receive(object sender, WebSocketSharp.MessageEventArgs e)
         {
-            OnReceive(sender, new MessageEventArgs(e.RawData));
+            OnReceive?.Invoke(sender, new MessageEventArgs(e.RawData));
         }
 
         private void Closed(object sender, EventArgs e)
         {
-            OnClosed(sender, e);
+            OnClosed?.Invoke(sender, e);
         }
 
         private void Connected(object sender, EventArgs e)
         {
-            OnConnected(sender, e);
+            OnConnected?.Invoke(sender, e);
         }
     }
 }
diff --git a/Libraries/RosBridgeClient/RosSocket.cs b/Libraries/RosBridgeClient/RosSocket.cs
@@ -61,8 +61,7 @@ public void Close()
             if (Publishers.ContainsKey(id))
                 Unadvertise(id);
 
-            Advertisement advertisement;
-            Publishers.Add(id, new Publisher<T>(id, topic, out advertisement));
+            Publishers.Add(id, new Publisher<T>(id, topic, out Advertisement advertisement));
             Send(advertisement);
             return id;
         }
@@ -195,7 +194,7 @@ private static string GetUnusedCounterID<T>(Dictionary<string, T> dictionary, st
             int I = 0;
             string id;
             do
-                id = name + ":" + (I++).ToString();
+                id = name + ":" + I++;
             while (dictionary.ContainsKey(id));
             return id;
         }

diff --git a/Libraries/RosBridgeClient/UrdfImporter.cs b/Libraries/RosBridgeClient/UrdfImporter.cs
@@ -151,7 +151,7 @@ private static List<Uri> ReadResourceFileUris(string robotDescription)
 
         private void ReceiveResourceFile(ServiceReceiver<file_server.GetBinaryFileRequest, file_server.GetBinaryFileResponse> serviceReceiver, file_server.GetBinaryFileResponse serviceResponse)
         {
-            byte[] fileContents = (serviceResponse).value;
+            byte[] fileContents = serviceResponse.value;
             Uri resourceFileUri = new Uri((serviceReceiver.ServiceParameter).name);
 
             if (IsColladaFile(resourceFileUri))
@@ -176,6 +176,7 @@ private static bool IsColladaFile(Uri uri)
         {
             return Path.GetExtension(uri.LocalPath) == ".dae";
         }
+
         private void ImportColladaTextureFiles(Uri daeFileUri, string fileContents)
         {
             var serviceReceivers = RequestResourceFiles(ReadDaeTextureUris(daeFileUri, fileContents));

diff --git a/Libraries/RosBridgeClientTest/RosSocketConsoleExample.cs b/Libraries/RosBridgeClientTest/RosSocketConsoleExample.cs
@@ -53,8 +53,7 @@ public static void Main(string[] args)
 
             // Service Call:
             rosSocket.CallService<rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param", ServiceCallHandler, new rosapi.GetParamRequest("/rosdistro", "default"));
-            rosSocket.CallService<rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param", ServiceCallHandler, new rosapi.GetParamRequest("/rosdistro", "default"));
-
+
             // Service Response:
             string service_id = rosSocket.AdvertiseService<std_srvs.TriggerRequest, std_srvs.TriggerResponse>("/service_response_test", ServiceResponseHandler);
 

diff --git a/Libraries/RosBridgeClientTest/UrdfImporterConsoleExample.cs b/Libraries/RosBridgeClientTest/UrdfImporterConsoleExample.cs
@@ -18,7 +18,7 @@
 
 // commands on ROS system:
 // launch before starting:
-// roslaunch file_server roslaunch file_server publish_description_turtlebot2.launch
+// roslaunch file_server publish_description_turtlebot2.launch
 
 namespace RosSharp.RosBridgeClientTest
 {

diff --git a/Libraries/RosSharp.sln b/Libraries/RosSharp.sln
@@ -1,13 +1,15 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio 14
-VisualStudioVersion = 14.0.25420.1
+# Visual Studio 15
+VisualStudioVersion = 15.0.27703.2042
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RosBridgeClient", "RosBridgeClient\RosBridgeClient.csproj", "{27CD898A-8840-4CDD-A475-4A672FD2EF50}"
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RosBridgeClientTest", "RosBridgeClientTest\RosBridgeClientTest.csproj", "{4E1BB3D0-8254-4D23-BD1B-F6EC7AA562FC}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "UrdfImporter", "UrdfImporter\UrdfImporter.csproj", "{D33101DA-7196-4545-B708-C8E0C308C5FA}"
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Urdf", "Urdf\Urdf.csproj", "{D33101DA-7196-4545-B708-C8E0C308C5FA}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "UrdfTest", "UrdfTest\UrdfTest.csproj", "{FC9BA7F5-EE69-47C9-87DE-53AA67253CB2}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -27,6 +29,10 @@ Global
 		{D33101DA-7196-4545-B708-C8E0C308C5FA}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{D33101DA-7196-4545-B708-C8E0C308C5FA}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{D33101DA-7196-4545-B708-C8E0C308C5FA}.Release|Any CPU.Build.0 = Release|Any CPU
+		{FC9BA7F5-EE69-47C9-87DE-53AA67253CB2}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{FC9BA7F5-EE69-47C9-87DE-53AA67253CB2}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{FC9BA7F5-EE69-47C9-87DE-53AA67253CB2}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{FC9BA7F5-EE69-47C9-87DE-53AA67253CB2}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

diff --git a/Libraries/UrdfImporter/.gitignore → Libraries/Urdf/.gitignore b/Libraries/UrdfImporter/.gitignore → Libraries/Urdf/.gitignore