various fixes

* corrections for simple data types in ROS message types according to ROS specification
* moving message generation classes to Unity3D project
* resourceFileUri fix
* Prismatic Joint translation fix
* updating dependencies

Libraries/RosBridgeClient/Messages/Sensor/Image.cs

@@ -22,11 +22,11 @@ public class Image : Message
         [JsonIgnore]
         public const string RosMessageName = "sensor_msgs/Image";
         public Standard.Header header;
-        public int height;
-        public int width;
+        public uint height;
+        public uint width;
         public string encoding;
         public byte is_bigendian;
-        public int step;
+        public uint step;
         public byte[] data;
         public Image()
         {

Libraries/RosBridgeClient/Messages/Sensor/JointState.cs

@@ -23,16 +23,17 @@ public class JointState : Message
         public const string RosMessageName = "sensor_msgs/JointState";
         public Standard.Header header;
         public string[] name;
-        public float[] position;
-        public float[] velocity;
-        public float[] effort;
+        public double[] position;
+        public double[] velocity;
+        public double[] effort;
+
         public JointState()
         {
             header = new Standard.Header();
             name = new string[0];
-            position = new float[0];
-            velocity = new float[0];
-            effort = new float[0];
+            position = new double[0];
+            velocity = new double[0];
+            effort = new double[0];
         }
     }
 }

Libraries/RosBridgeClient/Messages/Sensor/PointCloud2.cs

@@ -22,12 +22,12 @@ public class PointCloud2 : Message
         [JsonIgnore]
         public const string RosMessageName = "sensor_msgs/PointCloud2";
         public Standard.Header header;
-        public int height;
-        public int width;
+        public uint height;
+        public uint width;
         public PointField[] fields;
         public bool is_bigendian;
-        public int point_step;
-        public int row_step;
+        public uint point_step;
+        public uint row_step;
 
         public byte[] data;
         public bool is_dense;

Libraries/RosBridgeClient/Messages/Sensor/PointField.cs

@@ -21,10 +21,18 @@ public class PointField : Message
     {
         [JsonIgnore]
         public const string RosMessageName = "sensor_msgs/PointField";
-        public int datatype;
+        public const byte INT8 = 1;
+        public const byte UINT8 = 2;
+        public const byte INT16 = 3;
+        public const byte UINT16 = 4;
+        public const byte INT32 = 5;
+        public const byte UINT32 = 6;
+        public const byte FLOAT32 = 7;
+        public const byte FLOAT64 = 8;
+        public byte datatype;
         public string name;
-        public int offset;
-        public int count;
+        public uint offset;
+        public uint count;
         public PointField()
         {
             datatype = 0;

Libraries/RosBridgeClient/Messages/Standard/Float64.cs

@@ -21,11 +21,11 @@ public class Float64 : Message
     {
         [JsonIgnore]
         public const string RosMessageName = "std_msgs/Float64";
-        public float data;
+        public double data;
 
         public Float64()
         {
-            data = 0.0f;
+            data = 0.0;
         }
     }
 }

Libraries/RosBridgeClient/Messages/Standard/Header.cs

@@ -21,7 +21,7 @@ public class Header : Message
     {
         [JsonIgnore]
         public const string RosMessageName = "std_msgs/Header";
-        public int seq;
+        public uint seq;
         public Time stamp;
         public string frame_id;
         public Header()

Libraries/RosBridgeClient/Messages/Standard/Time.cs

@@ -21,8 +21,8 @@ public class Time : Message
     {
         [JsonIgnore]
         public const string RosMessageName = "std_msgs/Time";
-        public int secs;
-        public int nsecs;
+        public uint secs;
+        public uint nsecs;
         public Time()
         {
             secs = 0;

Libraries/RosBridgeClient/PointCloud.cs

@@ -24,10 +24,10 @@ public class PointCloud
 
         public PointCloud(PointCloud2 pointCloud2)
         {
-            int I = pointCloud2.data.Length / pointCloud2.point_step;
+            long I = pointCloud2.data.Length / pointCloud2.point_step;
             Points = new RgbPoint3[I];
             byte[] byteSlice = new byte[pointCloud2.point_step];
-            for (int i = 0; i < I; i++)
+            for (long i = 0; i < I; i++)
             {
                 Array.Copy(pointCloud2.data, i * pointCloud2.point_step, byteSlice, 0, pointCloud2.point_step);
                 Points[i] = new RgbPoint3(byteSlice, pointCloud2.fields);
@@ -37,15 +37,15 @@ public PointCloud(PointCloud2 pointCloud2)
         public PointCloud(Image depthImage, Image rgbImage, float focal)
         {
 
-            int width = depthImage.width;
-            int height = depthImage.height;
+            uint width = depthImage.width;
+            uint height = depthImage.height;
             float invFocal = 1.0f / focal;
 
             Points = new RgbPoint3[width * height];
 
-            for (int v = 0; v < height; v++)
+            for (uint v = 0; v < height; v++)
             {
-                for (int u = 0; u < width; u++)
+                for (uint u = 0; u < width; u++)
                 {
                     float depth = 0;// depthImage[u, v];
                     if (depth == 0)

Libraries/RosBridgeClient/RosBridgeClient.csproj

@@ -54,7 +54,6 @@
     <Compile Include="Messages\Actionlib\FibonacciFeedback.cs" />
     <Compile Include="Messages\Actionlib\FibonacciGoal.cs" />
     <Compile Include="Messages\Actionlib\FibonacciResult.cs" />
-    <Compile Include="Messages\ActionMessageGenerator.cs" />
     <Compile Include="Messages\Geometry\Accel.cs" />
     <Compile Include="Messages\Geometry\Point.cs" />
     <Compile Include="Messages\Geometry\PointStamped.cs" />
@@ -68,7 +67,6 @@
     <Compile Include="Messages\Actionlib\GoalID.cs" />
     <Compile Include="Messages\Actionlib\GoalStatus.cs" />
     <Compile Include="Messages\Actionlib\GoalStatusArray.cs" />
-    <Compile Include="Messages\MessageGenerationGenerics.cs" />
     <Compile Include="Messages\Navigation\MapMetaData.cs" />
     <Compile Include="Messages\Navigation\OccupancyGrid.cs" />
     <Compile Include="Messages\Navigation\Odometry.cs" />
@@ -79,8 +77,6 @@
     <Compile Include="Messages\Sensor\Joy.cs" />
     <Compile Include="Messages\Sensor\PointCloud2.cs" />
     <Compile Include="Messages\Sensor\PointField.cs" />
-    <Compile Include="Messages\ServiceMessageGenerator.cs" />
-    <Compile Include="Messages\SimpleMessageGenerator.cs" />
     <Compile Include="Messages\Standard\Header.cs" />
     <Compile Include="Messages\Standard\Float64.cs" />
     <Compile Include="Messages\Standard\Bool.cs" />

Libraries/RosBridgeClientTest/RosSocketConsoleExample.cs

@@ -33,7 +33,7 @@ namespace RosSharp.RosBridgeClientTest
 {
     public class RosSocketConsole
     {
-        static readonly string uri = "ws://192.168.56.102:9090";
+        static readonly string uri = "ws://192.168.56.103:9090";
 
         public static void Main(string[] args)
         {

Unity3D/Assets/RosSharp/Scripts/Extensions/StandardHeaderExtensions.cs

@@ -20,8 +20,8 @@ public static class HeaderExtensions
         public static void Update(this Messages.Standard.Header header)
         {
             float time = UnityEngine.Time.realtimeSinceStartup;
-            int secs = (int)time;
-            int nsecs = (int)(1e9 *(time-secs));
+            uint secs = (uint)time;
+            uint nsecs = (uint)(1e9 *(time-secs));
             header.seq++;
             header.stamp.secs = secs;
             header.stamp.nsecs = nsecs;

Unity3D/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStatePublisher.cs

@@ -42,9 +42,9 @@ private void InitializeMessage()
             {
                 header = new Messages.Standard.Header { frame_id = FrameId },
                 name = new string[jointStateLength],
-                position = new float[jointStateLength],
-                velocity = new float[jointStateLength],
-                effort = new float[jointStateLength]
+                position = new double[jointStateLength],
+                velocity = new double[jointStateLength],
+                effort = new double[jointStateLength]
             };
         }
 
@@ -59,11 +59,18 @@ private void UpdateMessage()
 
         private void UpdateJointState(int i)
         {
+
             JointStateReaders[i].Read(
                 out message.name[i],
-                out message.position[i],
-                out message.velocity[i],
-                out message.effort[i]);
+                out float position,
+                out float velocity,
+                out float effort);
+
+            message.position[i] = position;
+            message.velocity[i] = velocity;
+            message.effort[i] = effort;
         }
+
+
     }
 }

Unity3D/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStateSubscriber.cs

@@ -29,7 +29,7 @@ protected override void ReceiveMessage(Messages.Sensor.JointState message)
             {
                 index = JointNames.IndexOf(message.name[i]);
                 if (index != -1)
-                    JointStateWriters[index].Write(message.position[i]);
+                    JointStateWriters[index].Write((float) message.position[i]);
             }
         }
     }