public void CreateSimulationModel()
{
if (m_Colliding)
{
return;
}
GameObject simModel = Instantiate(SimulationModel, transform.position, transform.rotation);
simModel.name = SimulationModel.name;
InputManager.Instance.ModelSpawn_Controller.Operating = false;
Destroy(InputManager.Instance.Selector_Tool.CurrentPreviewModel.gameObject);
InputManager.Instance.Selector_Tool.CurrentPreviewModel = null;
if (SimulationModel.GetComponent <ROSObject>() == null)
{
return;
}
// publish a message to add the object to ros node
List <string> objects = new List <string>();
objects.Add(SimulationModel.name);
List <Vector3> positions = new List <Vector3>();
positions.Add(GazeboUtility.UnityPositionToGazebo(transform.position));
ModelMsg msg = new ModelMsg(1, 1, objects, positions);
ROSBridge.Instance.Publish(RoboyModelPublisher.GetMessageTopic(), msg);
RoboyManager.Instance.AddRoboy(simModel.transform);
}
// Update is called once per frame
void Update()
{
if (Input.GetKeyDown(KeyCode.Space))
{
List <string> objects = new List <string>();
objects.Add("Roboy_simplified");
List <Vector3> positions = new List <Vector3>();
positions.Add(GazeboUtility.UnityPositionToGazebo(new Vector3(2.3123f, 2.2311f, 0.5f)));
ModelMsg msg = new ModelMsg(1, 1, objects, positions);
Debug.Log(msg.ToYAMLString());
ROSBridge.Instance.Publish(RoboyModelPublisher.GetMessageTopic(), msg);
}
else if (Input.GetKeyDown(KeyCode.Escape))
{
List <string> objects = new List <string>();
objects.Add("Roboy_simplified");
List <Vector3> positions = new List <Vector3>();
positions.Add(Vector3.zero);
ModelMsg msg = new ModelMsg(0, 1, objects, positions);
ROSBridge.Instance.Publish(RoboyModelPublisher.GetMessageTopic(), msg);
}
}
