/// <summary> /// Used for initialization /// </summary> private void Start() { //ROS checks if (roscore == null) { Debug.LogWarning("[TheoraSubscriber] " + name + " does not have a roscore specified! Will try to find one!"); roscore = FindObjectOfType <ROSCore>(); } if (roscore == null) { Debug.LogError("[TheoraSubscriber] " + name + " can not find an instance of ROSCore! Turning off ImageSub!"); enabled = false; return; } nh = roscore.getNodeHandle(); if (nh == null) { Debug.LogError("[TheoraSubscriber] Ros Node handle is null! Turning off ImageSub!"); enabled = false; return; } imageSub = nh.subscribe <ti.Packet>(Topic, 0, ImageCb); granpos = 0; width = 0; height = 0; bytes_per_pixel = 3; texture = new Texture2D(0, 0, TextureFormat.RGB24, false); //This texture format seems to be BGR not RGB }