public override void OnInspectorGUI()
{
kinematicPatcher = (KinematicPatcher)target;
DrawDefaultInspector();
if (GUILayout.Button(kinematicButtonLabel))
{
if (isKinematic)
{
isKinematic = false;
kinematicPatcher.SetKinematic(false);
kinematicButtonLabel = kinematicButtonOn;
}
else
{
isKinematic = true;
kinematicPatcher.SetKinematic(true);
kinematicButtonLabel = kinematicButtonOff;
}
}
}
private void TeleoperationPatcher()
{
GameObject robot = GameObject.Find(urdfImporter.robotName);
if (robot != null)
{
SpotLightPatcher.patch(robot);
KinematicPatcher.patch(robot);
OdometryPatcher.patch(robot);
JointStatePatcher.patch(robot);
var rosConnector = new GameObject("ROSConnector");
rosConnector.AddComponent <RosConnector>().RosBridgeServerUrl = address;
rosConnector.AddComponent <JointStateSubscriber>();
Application.runInBackground = true;
status["jointStatesMapped"].Set();
}
else
{
Debug.LogWarning("Joint States Patching did not work! Robot not found...");
}
}