void Update()
{
ros.Render();
if (!_running)
{
return;
}
timer -= Time.deltaTime;
if (timer <= 0)
{
timer = pollRate;
PointMsg point = new PointMsg(1, 2, 3);
QuaternionMsg quat = new QuaternionMsg(1, 2, 3, 4);
PoseMsg pose = new PoseMsg(point, quat);
PoseWithCovarianceMsg posec = new PoseWithCovarianceMsg(pose);
Vector3Msg vec3 = new Vector3Msg(1, 2, 3);
TwistMsg twist = new TwistMsg(vec3, vec3);
TwistWithCovarianceMsg twistc = new TwistWithCovarianceMsg(twist, new double[36]);
HeaderMsg header = new HeaderMsg(1, new TimeMsg(1, 1), "0");
PoseStampedMsg ps = new PoseStampedMsg(header, pose);
PathMsg msg = new PathMsg(header, new PoseStampedMsg[] { ps, ps, ps });
BoolMsg boolmsg = new BoolMsg(true);
StringMsg str = new StringMsg("This is a test");
RegionOfInterestMsg roi = new RegionOfInterestMsg(0, 1, 2, 3, true);
CameraInfoMsg caminfo = new CameraInfoMsg(header, 100, 200, "plumb_bob", new double[5], new double[9], new double[9], new double[12], 14, 123, roi);
_genericPub.PublishData(caminfo);
}
}
private IEnumerator SendPathToROS(ROS ros)
{
while (Application.isPlaying)
{
if (ros.IsConnected())
{
Vector3[] points = agent.path.corners;
PoseStampedMsg[] poses = new PoseStampedMsg[points.Length];
HeaderMsg head = new HeaderMsg(0, new TimeMsg(DateTime.Now.Second, 0), "map");
Quaternion rotation = transform.rotation;
for (int i = 0; i < points.Length; i++)
{
head.SetSeq(i);
if (i > 0)
{
rotation = Quaternion.FromToRotation(points[i - 1], points[i]);
}
poses[i] = new PoseStampedMsg(head, new PoseMsg(points[i], rotation, true));
}
HeaderMsg globalHead = new HeaderMsg(0, new TimeMsg(DateTime.Now.Second, 0), "map");
PathMsg pathmsg = new PathMsg(globalHead, poses);
ros.Publish(Path_pub.GetMessageTopic(), pathmsg);
}
yield return(new WaitForSeconds(rOSFrecuencyPath));
}
}
public new static void CallBack(ROSBridgeMsg msg)
{
GameObject uav = GameObject.Find("UAV");
if (uav == null)
{
Debug.Log("Can't find the uav???");
}
else
{
PathMsg path = (PathMsg)msg;
for (int i = 0; i < path.poses.length(); i = i + 1)
{
// Just need to add a point type for each pose message
}
robot.transform.position = new Vector3(pose.GetX(), 0.2f, pose.GetY());
robot.transform.rotation = Quaternion.AngleAxis(-pose.GetTheta() * 180.0f / 3.1415f, Vector3.up);
}
}
public static string ToYAMLString(PathMsg msg)
{
return(msg.ToYAMLString());
}
// This function was design by: Jose Luiz Matez
private IEnumerator SendInterpolatedPathToROS(ROS ros)
{
while (Application.isPlaying)
{
if (ros.IsConnected())
{
Vector3[] points = agent.path.corners;
Vector3[] path = new Vector3[6];
float[] distances = new float[points.Length];
float[] angles = new float[points.Length];
PoseStampedMsg[] poses = new PoseStampedMsg[path.Length];
for (int i = 0; i < (points.Length - 1); i++)
{
if (i == 0)
{
distances[i] = Vector3.Distance(transform.position, points[i + 1]);
}
else
{
distances[i] = Vector3.Distance(points[i], points[i + 1]);
}
angles[i] = Mathf.Atan2(points[i + 1].z - points[i].z, points[i + 1].x - points[i].x);
}
path[0] = transform.position;
HeaderMsg head = new HeaderMsg(0, new TimeMsg(DateTime.Now.AddSeconds(0).Second, 0), "map");
Quaternion rotation = transform.rotation;
poses[0] = new PoseStampedMsg(head, new PoseMsg(path[0], rotation, true));
head.SetSeq(0);
for (int j = 1; j < 6; j++)
{
float accumulatedDistance = 0.0f;
int idx = 0;
while (accumulatedDistance < agent.velocity.magnitude && idx < distances.Length)
{
if (idx < distances.Length)
{
if (distances[idx] >= (agent.velocity.magnitude - accumulatedDistance))
{
distances[idx] = distances[idx] - (agent.velocity.magnitude - accumulatedDistance);
accumulatedDistance = accumulatedDistance + (agent.velocity.magnitude - accumulatedDistance);
}
else
{
accumulatedDistance = accumulatedDistance + distances[idx];
distances[idx] = 0.0f;
if (idx == (distances.Length - 1))
{
HeaderMsg head_path = new HeaderMsg(0, new TimeMsg(DateTime.Now.AddSeconds(j).Second, 0), "map");
Quaternion add_rotation = Quaternion.Euler(0.0f, angles[idx], 0.0f);
rotation = rotation * add_rotation;
head.SetSeq(j);
path[j] = new Vector3(path[j - 1].x + accumulatedDistance * Mathf.Cos(angles[idx]), 0.0f, path[j - 1].z + accumulatedDistance * Mathf.Sin(angles[idx]));
poses[j] = new PoseStampedMsg(head_path, new PoseMsg(path[j], rotation, true));
}
}
if (accumulatedDistance == agent.velocity.magnitude)
{
HeaderMsg head_path = new HeaderMsg(0, new TimeMsg(DateTime.Now.AddSeconds(j).Second, 0), "map");
Quaternion add_rotation = Quaternion.Euler(0.0f, angles[idx], 0.0f);
rotation = rotation * add_rotation;
head.SetSeq(j);
path[j] = new Vector3(path[j - 1].x + accumulatedDistance * Mathf.Cos(angles[idx]), 0.0f, path[j - 1].z + accumulatedDistance * Mathf.Sin(angles[idx]));
poses[j] = new PoseStampedMsg(head_path, new PoseMsg(path[j], rotation, true));
}
idx = idx + 1;
}
else
{
accumulatedDistance = agent.velocity.magnitude;
path[j] = path[j - 1];
HeaderMsg head_path = new HeaderMsg(0, new TimeMsg(DateTime.Now.AddSeconds(j).Second, 0), "map");
head.SetSeq(j);
path[j] = new Vector3(path[j - 1].x + accumulatedDistance * Mathf.Cos(angles[idx]), 0.0f, path[j - 1].z + accumulatedDistance * Mathf.Sin(angles[idx]));
poses[j] = new PoseStampedMsg(head_path, new PoseMsg(path[j], rotation, true));
}
}
}
if (poses[1] != null)
{
HeaderMsg globalHead = new HeaderMsg(0, new TimeMsg(DateTime.Now.Second, 0), "map");
PathMsg pathmsg = new PathMsg(globalHead, poses);
ros.Publish(Path_pub.GetMessageTopic(), pathmsg);
}
}
yield return(new WaitForSeconds(rOSFrecuencyPath));
}
}
