protected override void Start()
{
base.Start();
this.angleMin = -AngleInc * this.laserNum / 2;
this.angleMax = +AngleInc * this.laserNum / 2 - AngleInc;
if (!RosConnectionManager.Instance.rosConnections.sigverseRosBridgeTcpClientMap.ContainsKey(topicName))
{
this.tcpClient = SIGVerseRosBridgeConnection.GetConnection(this.rosBridgeIP, this.sigverseBridgePort);
RosConnectionManager.Instance.rosConnections.sigverseRosBridgeTcpClientMap.Add(topicName, this.tcpClient);
}
else
{
this.tcpClient = RosConnectionManager.Instance.rosConnections.sigverseRosBridgeTcpClientMap[topicName];
}
this.networkStream = this.tcpClient.GetStream();
this.networkStream.ReadTimeout = 100000;
this.networkStream.WriteTimeout = 100000;
this.header = new Header(0, new SIGVerse.RosBridge.msg_helpers.Time(0, 0), this.sensorLink.name);
this.laserScan = new LaserScanForSIGVerseBridge();
this.laserScan.header = this.header;
this.laserScan.angle_min = this.angleMin;
this.laserScan.angle_max = this.angleMax;
this.laserScan.angle_increment = AngleInc;
this.laserScan.time_increment = 0.0;
this.laserScan.scan_time = this.sendingInterval / 1000.0f;
this.laserScan.range_min = RangeMin;
this.laserScan.range_max = RangeMax;
this.laserScan.ranges = new double[this.laserNum];
this.laserScan.intensities = new double[this.laserNum];
this.laserScanMsg = new SIGVerseRosBridgeMessage <LaserScanForSIGVerseBridge>("publish", this.topicName, LaserScanForSIGVerseBridge.GetMessageType(), this.laserScan);
// Debug.Log("AngleMin="+this.angleMin+", AngleMax="+this.angleMax+", AngleInc="+AngleInc);
}
protected override void Start()
{
base.Start();
if (!RosConnectionManager.Instance.rosConnections.sigverseRosBridgeTcpClientMap.ContainsKey(topicName))
{
this.tcpClient = SIGVerseRosBridgeConnection.GetConnection(this.rosBridgeIP, this.sigverseBridgePort);
RosConnectionManager.Instance.rosConnections.sigverseRosBridgeTcpClientMap.Add(topicName, this.tcpClient);
}
else
{
this.tcpClient = RosConnectionManager.Instance.rosConnections.sigverseRosBridgeTcpClientMap[topicName];
}
this.networkStream = this.tcpClient.GetStream();
this.networkStream.ReadTimeout = 100000;
this.networkStream.WriteTimeout = 100000;
this.header = new Header(0, new SIGVerse.RosBridge.msg_helpers.Time(0, 0), this.sensorLink.name);
this.laserScan = new LaserScanForSIGVerseBridge();
this.numLines = (int)Mathf.Round(LaserAngle / LaserAngularResolution) + 1;
this.laserScan.header = this.header;
this.laserScan.angle_min = -HalfOfLaserAngle * Mathf.Deg2Rad;
this.laserScan.angle_max = +HalfOfLaserAngle * Mathf.Deg2Rad;
this.laserScan.angle_increment = LaserAngularResolution * Mathf.Deg2Rad;
this.laserScan.time_increment = 0.0;
this.laserScan.scan_time = 0.1; // tentative
this.laserScan.range_min = 0.05;
this.laserScan.range_max = 20.0;
this.laserScan.ranges = new double[this.numLines];
this.laserScan.intensities = new double[this.numLines];
this.laserScanMsg = new SIGVerseRosBridgeMessage <LaserScanForSIGVerseBridge>("publish", this.topicName, LaserScanForSIGVerseBridge.GetMessageType(), this.laserScan);
// Debug.Log("this.layerMask.value = "+this.layerMask.value);
}
void Start()
{
if (this.rosBridgeIP.Equals(string.Empty))
{
this.rosBridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP;
}
if (this.sigverseBridgePort == 0)
{
this.sigverseBridgePort = ConfigManager.Instance.configInfo.sigverseBridgePort;
}
this.tcpClient = HSRCommon.GetSIGVerseRosbridgeConnection(this.rosBridgeIP, this.sigverseBridgePort);
this.networkStream = this.tcpClient.GetStream();
this.networkStream.ReadTimeout = 100000;
this.networkStream.WriteTimeout = 100000;
this.header = new Header(0, new SIGVerse.ROSBridge.msg_helpers.Time(0, 0), this.sensorLink.name);
this.laserScan = new LaserScanForSIGVerseBridge();
this.numLines = (int)Mathf.Round(LaserAngle / LaserAngularResolution) + 1;
this.laserScan.header = this.header;
this.laserScan.angle_min = -HalfOfLaserAngle * Mathf.Deg2Rad;
this.laserScan.angle_max = +HalfOfLaserAngle * Mathf.Deg2Rad;
this.laserScan.angle_increment = LaserAngularResolution * Mathf.Deg2Rad;
this.laserScan.time_increment = 0.0;
this.laserScan.scan_time = 0.1; // tentative
this.laserScan.range_min = 0.05;
this.laserScan.range_max = 20.0;
this.laserScan.ranges = new double[this.numLines];
this.laserScan.intensities = new double[this.numLines];
this.laserScanMsg = new SIGVerseROSBridgeMessage <LaserScanForSIGVerseBridge>("publish", this.topicName, LaserScanForSIGVerseBridge.GetMessageType(), this.laserScan);
// Debug.Log("this.layerMask.value = "+this.layerMask.value);
}
protected override void Start()
{
base.Start();
if (!RosConnectionManager.Instance.rosConnections.sigverseRosBridgeTcpClientMap.ContainsKey(topicName))
{
this.tcpClient = SIGVerseRosBridgeConnection.GetConnection(this.rosBridgeIP, this.sigverseBridgePort);
RosConnectionManager.Instance.rosConnections.sigverseRosBridgeTcpClientMap.Add(topicName, this.tcpClient);
}
else
{
this.tcpClient = RosConnectionManager.Instance.rosConnections.sigverseRosBridgeTcpClientMap[topicName];
}
this.networkStream = this.tcpClient.GetStream();
this.networkStream.ReadTimeout = 100000;
this.networkStream.WriteTimeout = 100000;
this.header = new Header(0, new SIGVerse.RosBridge.msg_helpers.Time(0, 0), this.sensorLink.name);
this.laserScan = new LaserScanForSIGVerseBridge();
this.laserScan.header = this.header;
this.laserScan.angle_min = AngleMin * Mathf.Deg2Rad;
this.laserScan.angle_max = AngleMax * Mathf.Deg2Rad;
this.laserScan.angle_increment = AngleIncrement * Mathf.Deg2Rad;
this.laserScan.time_increment = 0.0; // (1.0f / (ScanRate / 60.0f)) / NumLines;
this.laserScan.scan_time = 0.0; // 1.0f / (ScanRate / 60.0f);
this.laserScan.range_min = RangeMin;
this.laserScan.range_max = RangeMax;
this.laserScan.ranges = new double[NumLines];
this.laserScan.intensities = new double[NumLines];
this.laserScanMsg = new SIGVerseRosBridgeMessage <LaserScanForSIGVerseBridge>("publish", this.topicName, LaserScanForSIGVerseBridge.GetMessageType(), this.laserScan);
}
protected override void Start()
{
base.Start();
if (!RosConnectionManager.Instance.rosConnections.sigverseRosBridgeTcpClientMap.ContainsKey(topicName))
{
this.tcpClient = SIGVerseRosBridgeConnection.GetConnection(this.rosBridgeIP, this.sigverseBridgePort);
RosConnectionManager.Instance.rosConnections.sigverseRosBridgeTcpClientMap.Add(topicName, this.tcpClient);
}
else
{
this.tcpClient = RosConnectionManager.Instance.rosConnections.sigverseRosBridgeTcpClientMap[topicName];
}
this.networkStream = this.tcpClient.GetStream();
this.networkStream.ReadTimeout = 100000;
this.networkStream.WriteTimeout = 100000;
this.laserScanMsg = new SIGVerseRosBridgeMessage <LaserScanForSIGVerseBridge>("publish", this.topicName, LaserScanForSIGVerseBridge.GetMessageType(), this.laserScan);
// Debug.Log("this.layerMask.value = "+this.layerMask.value);
}