Robot Raconteur is a powerful communication framework for robotics and automation systems. While intended for use with robotics, it is flexible enough to be used for other applications, including building control, infrastructure, and Internet-of-Things applications, among many others. This package
contains the Robot Raconteur Core library for .NET (C#).
Installation
For most platforms, the easiest way to install Robot Raconteur is using :
The following is an example C# client for Reynard the Robot:
using System;
using RobotRaconteur;
using System.Threading;
// Initialize the client node
using (var node_setup = new ClientNodeSetup())
{
// Connect to the Reynard service using a URL
var c = (experimental.reynard_the_robot.Reynard)RobotRaconteurNode.s.ConnectService(
"rr+tcp://localhost:29200?service=reynard");
// Teleport the robot
c.teleport(0.1, -0.2);
// Drive the robot with no timeout
c.drive_robot(0.5, -0.2, -1, false);
// Wait for one second
RobotRaconteurNode.s.Sleep(1000);
// Stop the robot
c.drive_robot(0, 0, -1, false);
// Set the arm position
c.setf_arm_position(100.0 * (Math.PI / 180), -30 * (Math.PI / 180), -70 * (Math.PI / 180));
// Set the color to red
c.color = new double[] { 1.0, 0.0, 0.0 };
// Say hello
c.say("Hello, World From C#!");
}
This work was supported in part by Subaward No. ARM-TEC-18-01-F-19 and ARM-TEC-19-01-F-24 from the Advanced Robotics for Manufacturing ("ARM") Institute under Agreement Number W911NF-17-3-0004 sponsored by the Office of the Secretary of Defense. ARM Project Management was provided by Christopher Adams. The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of either ARM or the Office of the Secretary of Defense of the U.S. Government. The U.S. Government is authorized to reproduce and distribute reprints for Government purposes, notwithstanding any copyright notation herein.
This work was supported in part by the New York State Empire State Development Division of Science, Technology and Innovation (NYSTAR) under contract C160142.
