[ros-users] [Discourse.ros.org] [ROS Projects] ROS# on github.com/siemens/ros-sharp

Martin Bischoff ros.discourse at gmail.com
Wed Dec 13 10:43:32 UTC 2017

## Code Example ##
A simple Publisher/Subscriber Example:

using System;
using RosSharp.RosBridgeClient;

// commands on ROS system:
// roscore
// rostopic echo /talker
// rostopic pub /listener std_msgs/String "World!"
// roslaunch rosbridge_server rosrbridge_websocket.launch

public class HelloWorld
    public static void Main(string[] args)
        RosSocket rosSocket = new RosSocket("ws://");

        // Publication:
        int publication_id = rosSocket.Advertize("/talker", "std_msgs/String");

        StandardString message = new StandardString();
        message.data = "Hello!";
        rosSocket.Publish(publication_id, message);

        // Subscription Example:
        int subscription_id = rosSocket.Subscribe("/listener", "std_msgs/String", subscriptionHandler);

        Console.WriteLine("Press any key to close...");
    private static void subscriptionHandler(Message message)
        StandardString standardString = (StandardString)message;


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