ROS TCP Connector C# Lost Publishers & Freezing

asked 2023-07-25 16:41:17 -0600

mericgeren gravatar image

updated 2023-07-27 02:29:30 -0600

Hello there,

I am trying to set envirovment variables and then, do roslaunch ros_tcp_endpoint endpoint.launchfrom Unity. Where, i am connecting to a master selected before from a menu by click of a button, then subscribing to master for getting a live video feed and publishing some messages again on click of a button. Here is my code:

using System.Collections;
using System.Collections.Generic;
using System.Diagnostics;
using UnityEngine;
using UnityEngine.SceneManagement;
using Unity.Robotics.ROSTCPConnector;
using UnityEngine.InputSystem;
using RosImage = RosMessageTypes.Sensor.CompressedImageMsg;
using ROString = RosMessageTypes.Std.StringMsg;
using RosMessageTypes.Geometry;
using UnityEngine.UI;
using TMPro;

public class SubnPub : MonoBehaviour

    private Process process = new Process();

    ROString directionMsg;

    ROSConnection directionPublisher;

    private Texture2D liveFeedTexture;

    public string topic = "/camera/image/compressed";
    public RawImage TheScreen;

    private bool isStopped = false;
    public TextMeshProUGUI startstopText;

    public Button upButton, downButton, leftButton, rightButton;

    // Start is called before the first frame update
    void Start()

        UnityEngine.Debug.Log("Current Device IP: "+DataKeeper.currentDeviceIP);

        //In order to prevent cmd from closing and killing the running commands in the process, /k added before commands.
    private string command;

        command = "/c cd \\ && .\\my_catkin_wp\\devel\\setup.bat && set ROS_MASTER_URI=http://" + DataKeeper.currentDeviceIP + ":11311 && roslaunch ros_tcp_endpoint endpoint.launch";

        //This function will open the cmd and then, run the commands to set the ROS_MASTER_URI to ip of the selected
        // device and to launch the "ros_tcp_endpoint.launch" file to start the connection between ROS and Unity.

        UnityEngine.Debug.Log("Current Device IP: " + DataKeeper.currentDeviceIP);

        liveFeedTexture = new Texture2D(1832, 1920, TextureFormat.RGB8, false);

        TheScreen.texture = liveFeedTexture;

        ROSConnection.GetOrCreateInstance().Subscribe<RosImage>(topic, ChangeFeedTexture);

        UnityEngine.Debug.Log("Subscribed to the image.");
        UnityEngine.Debug.Log("Current Button is: "+startstopText.text);
        UnityEngine.Debug.Log("Is Stop button clicked :"+isStopped.ToString());

        directionPublisher = ROSConnection.GetOrCreateInstance();


    void ChangeFeedTexture(RosImage videoFeed)

        if (isStopped == false)






    private void SetRosEnv()
        //Creates process start info object for setting starting options
        ProcessStartInfo startInfo = new ProcessStartInfo();

        //Sets file to be opened the cmd.exe for opening the command prompt
        startInfo.FileName = "cmd.exe";

        // Set UseShellExecute to false to redirect input/output
        startInfo.UseShellExecute = false;

        //Set verb to "runas" for running as administrator
        startInfo.Verb = "runas";

        //Hide and prevent creation of cmd window
        startInfo.WindowStyle = ProcessWindowStyle.Hidden;
        startInfo.CreateNoWindow = true;

        //Redirect standard input/output/error to receive output from the ROS command
        startInfo.RedirectStandardInput = true;
        startInfo.RedirectStandardOutput = true;
        startInfo.RedirectStandardError = true;

        // Create and start the process
        process.StartInfo = startInfo;
        process.OutputDataReceived += (sender, args1) => UnityEngine.Debug.Log("Output: \n" + "\n" + args1.Data);
        process.ErrorDataReceived += (sender, args1) => UnityEngine.Debug.Log("Error: \n" + "\n" + args1.Data);
        DataKeeper.currentProcessID = process.Id;

        process.StandardInput.WriteLine("cd /d C:");
        process.StandardInput.WriteLine("cd \\");
        process.StandardInput.WriteLine("set ROS_MASTER_URI=http://" + DataKeeper.currentDeviceIP + ":11311");
        process.StandardInput.WriteLine("roslaunch ros_tcp_endpoint endpoint.launch");


    public void OnStartStopClicked()

        isStopped = !isStopped;

        UnityEngine.Debug.Log("Changed to "+isStopped.ToString());

        if (isStopped == false)

            UnityEngine.Debug.Log("Starting the live stream!");

            startstopText.text = "Stop";



            UnityEngine.Debug.Log("Stopping the ...
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