public ROS.Pose getPose()
{
ROS.Pose pose = new ROS.Pose();
string msg = getMsg();
JsonUtility.FromJsonOverwrite(msg, pose);
clearMsg();
// Debug.Log(JsonUtility.ToJson(pose));
return(pose);
}
// Update is called once per frame
void Update()
{
OVRInput.Update(); // Has to be called at the beginning to interact with OVRInput.
// Retrieve buttons status
buttons[0] = OVRInput.Get(OVRInput.Button.One) ? 1 : 0;
buttons[1] = OVRInput.Get(OVRInput.Button.Two) ? 1 : 0;
buttons[2] = OVRInput.Get(OVRInput.Button.Three) ? 1 : 0;
buttons[3] = OVRInput.Get(OVRInput.Button.Four) ? 1 : 0;
buttons[9] = OVRInput.Get(OVRInput.Button.PrimaryThumbstick) ? 1 : 0;
buttons[10] = OVRInput.Get(OVRInput.Button.SecondaryThumbstick) ? 1 : 0;
// Retrieve axes status
Vector2 axisStickLeft = OVRInput.Get(OVRInput.Axis2D.PrimaryThumbstick);
axes[0] = axisStickLeft.x;
axes[1] = axisStickLeft.y;
axes[2] = OVRInput.Get(OVRInput.Axis1D.PrimaryIndexTrigger);
Vector2 axisStickRight = OVRInput.Get(OVRInput.Axis2D.SecondaryThumbstick);
axes[3] = axisStickRight.x;
axes[4] = axisStickRight.y;
axes[5] = OVRInput.Get(OVRInput.Axis1D.SecondaryIndexTrigger);
// Send buttons and axes to ROS.
rosClient.publish(buttons, 11, axes, 8);
// Read position from ROS.
if (rosClient.isPoseAvailable())
{
ROS.Pose pose = rosClient.getPose();
Debug.Log(JsonUtility.ToJson(pose));
gameObject.transform.position = pose.position.toUnityCoordSys(positionScale);
if (enableRotation)
{
gameObject.transform.eulerAngles = pose.orientation.toUnityCoordSys();
Debug.Log("Euler: " + gameObject.transform.eulerAngles.ToString());
}
}
}
