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Readme updated, client and service examples.
Signed-off-by: Piotr Jaroszek <[email protected]>
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‎README.md

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}
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```
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**Creating a service**
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1. Create service body:
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```c#
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public example_interfaces.srv.AddTwoInts_Response addTwoInts( example_interfaces.srv.AddTwoInts_Request msg)
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{
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example_interfaces.srv.AddTwoInts_Response response = new example_interfaces.srv.AddTwoInts_Response();
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response.Sum = msg.A + msg.B;
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return response;
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}
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```
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1. Create a service with a service name and callback:
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```c#
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IService<example_interfaces.srv.AddTwoInts_Request, example_interfaces.srv.AddTwoInts_Response> service =
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ros2Node.CreateService<example_interfaces.srv.AddTwoInts_Request, example_interfaces.srv.AddTwoInts_Response>(
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"add_two_ints", addTwoInts);
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```
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**Calling a service**
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1. Create a client:
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```c#
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private IClient<example_interfaces.srv.AddTwoInts_Request, example_interfaces.srv.AddTwoInts_Response> addTwoIntsClient;
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...
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addTwoIntsClient = ros2Node.CreateClient<example_interfaces.srv.AddTwoInts_Request, example_interfaces.srv.AddTwoInts_Response>(
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"add_two_ints");
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```
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1. Create a request and call a service:
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```c#
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example_interfaces.srv.AddTwoInts_Request request = new example_interfaces.srv.AddTwoInts_Request();
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request.A = 1;
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request.B = 2;
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var response = addTwoIntsClient.Call(request);
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```
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1. You can also make an async call:
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```c#
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Task<example_interfaces.srv.AddTwoInts_Response> asyncTask = addTwoIntsClient.CallAsync(request);
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...
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asyncTask.ContinueWith((task) => { Debug.Log("Got answer " + task.Result.Sum); });
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```
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### Examples
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1. Create a top-level object containing `ROS2UnityComponent.cs`. This is the central `Monobehavior` for `Ros2ForUnity` that manages all the nodes. Refer to class documentation for details.
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> **Note:** Each example script looks for `ROS2UnityComponent` in its own game object. However, this is not a requirement, just example implementation.
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**Topics**
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1. Add `ROS2TalkerExample.cs` script to the very same game object.
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1. Add `ROS2ListenerExample.cs` script to the very same game object.
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> **Note:** Each example script looks for `ROS2UnityComponent` in its own game object. However, this is not a requirement, just example implementation.
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1. Once you start the project in Unity, you should be able to see two nodes talking with each other in Unity Editor's console or use `ros2 node list` and `ros2 topic echo /chatter` to verify ros2 communication.
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Once you start the project in Unity, you should be able to see two nodes talking with each other in Unity Editor's console or use `ros2 node list` and `ros2 topic echo /chatter` to verify ros2 communication.
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**Services**
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1. Add `ROS2ServiceExample.cs` script to the very same game object.
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1. Add `ROS2ClientExample.cs` script to the very same game object.
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Once you start the project in Unity, you should be able to see client node calling an example service.
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## Acknowledgements
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Open-source release of ROS2 For Unity was made possible through cooperation with [Tier IV](https://tier4.jp). Thanks to encouragement, support and requirements driven by Tier IV the project was significantly improved in terms of portability, stability, core structure and user-friendliness.

‎src/Ros2ForUnity/Scripts/ROS2ClientExample.cs

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// Copyright 2019-2021 Robotec.ai.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System.Collections;
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using System.Collections.Generic;
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using System.Threading.Tasks;
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using UnityEngine;
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using ROS2;
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using addTwoIntsReq = example_interfaces.srv.AddTwoInts_Request;
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using addTwoIntsResp = example_interfaces.srv.AddTwoInts_Response;
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/// <summary>
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/// An example class provided for testing of basic ROS2 client
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/// </summary>
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public class ROS2ClientExample : MonoBehaviour
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{
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private ROS2UnityComponent ros2Unity;
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private ROS2Node ros2Node;
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private IClient<addTwoIntsReq, addTwoIntsResp> addTwoIntsClient;
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private bool isRunning = false;
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private Task<addTwoIntsResp> asyncTask;
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IEnumerator periodicAsyncCall()
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{
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while (ros2Unity.Ok())
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{
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while (!addTwoIntsClient.IsServiceAvailable())
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{
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yield return new WaitForSecondsRealtime(1);
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}
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addTwoIntsReq request = new addTwoIntsReq();
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request.A = Random.Range(0, 100);
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request.B = Random.Range(0, 100);
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asyncTask = addTwoIntsClient.CallAsync(request);
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asyncTask.ContinueWith((task) => { Debug.Log("Got async answer " + task.Result.Sum); });
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yield return new WaitForSecondsRealtime(1);
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}
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}
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IEnumerator periodicCall()
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{
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while (ros2Unity.Ok())
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{
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while (!addTwoIntsClient.IsServiceAvailable())
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{
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yield return new WaitForSecondsRealtime(1);
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}
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addTwoIntsReq request = new addTwoIntsReq();
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request.A = Random.Range(0, 100);
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request.B = Random.Range(0, 100);
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var response = addTwoIntsClient.Call(request);
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Debug.Log("Got sync answer " + response.Sum);
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yield return new WaitForSecondsRealtime(1);
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}
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}
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void Start()
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{
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ros2Unity = GetComponent<ROS2UnityComponent>();
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if (ros2Unity.Ok())
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{
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if (ros2Node == null)
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{
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ros2Node = ros2Unity.CreateNode("ROS2UnityClient");
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addTwoIntsClient = ros2Node.CreateClient<addTwoIntsReq, addTwoIntsResp>(
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"add_two_ints");
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}
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}
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}
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void Update()
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{
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if (!isRunning)
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{
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isRunning = true;
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// Async calls
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StartCoroutine(periodicAsyncCall());
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// Sync calls
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StartCoroutine(periodicCall());
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}
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}
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}

‎src/Ros2ForUnity/Scripts/ROS2ServiceExample.cs

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// Copyright 2019-2021 Robotec.ai.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using ROS2;
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using addTwoIntsReq = example_interfaces.srv.AddTwoInts_Request;
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using addTwoIntsResp = example_interfaces.srv.AddTwoInts_Response;
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/// <summary>
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/// An example class provided for testing of basic ROS2 service
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/// </summary>
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public class ROS2ServiceExample : MonoBehaviour
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{
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private ROS2UnityComponent ros2Unity;
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private ROS2Node ros2Node;
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private IService<addTwoIntsReq, addTwoIntsResp> addTwoIntsService;
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void Start()
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{
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ros2Unity = GetComponent<ROS2UnityComponent>();
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if (ros2Unity.Ok())
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{
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if (ros2Node == null)
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{
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ros2Node = ros2Unity.CreateNode("ROS2UnityService");
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addTwoIntsService = ros2Node.CreateService<addTwoIntsReq, addTwoIntsResp>(
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"add_two_ints", addTwoInts);
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}
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}
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}
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public example_interfaces.srv.AddTwoInts_Response addTwoInts( example_interfaces.srv.AddTwoInts_Request msg)
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{
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Debug.Log("Incoming Service Request A=" + msg.A + " B=" + msg.B);
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example_interfaces.srv.AddTwoInts_Response response = new example_interfaces.srv.AddTwoInts_Response();
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response.Sum = msg.A + msg.B;
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return response;
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}
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}

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