Hi! I want to pass on customized data via cyber_bridge. Do you know how to do that? Do I need to write a client and send data to the server? Thank you!
chenghanzh
>All comments
To add new message for CyberRT you'll need to do multiple things in simulator.
1) create .proto file with message description
2) compile .proto file to C# code, instructions are here.
3) create "Data" class that represents contents of protobuf message - this is abstraction we use to support ROS and Cyber at same time. Example: CanBusData.cs
4) write C# conversion code from this Data class to actual protobuf message. Example in CyberConversions.cs#L229
5) in code where you want to publish message, create IWriter instance for Data class. Example: CanBusSensor.cs#L28
6) optionally, if you are creating new sensor, add prefab to it to RuntimeSettings asset to have ability to instantiate this sensor from WebUI
martins-mozeiko
on 3 Sep 2019
Related issues
yumianhuli2
路
3Comments
clepz
路
6Comments
hakuturu583
路
4Comments
bage131
路
5Comments
mehmetdogru
路
7Comments
Most helpful comment
To add new message for CyberRT you'll need to do multiple things in simulator.
1) create .proto file with message description
2) compile .proto file to C# code, instructions are here.
3) create "Data" class that represents contents of protobuf message - this is abstraction we use to support ROS and Cyber at same time. Example: CanBusData.cs
4) write C# conversion code from this Data class to actual protobuf message. Example in CyberConversions.cs#L229
5) in code where you want to publish message, create IWriter instance for Data class. Example: CanBusSensor.cs#L28
6) optionally, if you are creating new sensor, add prefab to it to RuntimeSettings asset to have ability to instantiate this sensor from WebUI