public void SetSubscribeJointStates(bool subscribe)
{
if (subscribe)
{
JointStateSubscriber jointStateSubscriber = transform.AddComponentIfNotExists <JointStateSubscriber>();
jointStateSubscriber.JointStateWriters = new List <JointStateWriter>();
jointStateSubscriber.JointNames = new List <string>();
foreach (UrdfJoint urdfJoint in UrdfRobot.GetComponentsInChildren <UrdfJoint>())
{
if (urdfJoint.JointType != UrdfJoint.JointTypes.Fixed)
{
jointStateSubscriber.JointStateWriters.Add(urdfJoint.transform.AddComponentIfNotExists <JointStateWriter>());
jointStateSubscriber.JointNames.Add(urdfJoint.JointName);
}
}
}
else
{
GetComponent <JointStateSubscriber>()?.JointStateWriters.Clear();
GetComponent <JointStateSubscriber>()?.JointNames.Clear();
foreach (JointStateWriter writer in UrdfRobot.GetComponentsInChildren <JointStateWriter>())
{
writer.transform.DestroyImmediateIfExists <JointStateWriter>();
}
}
}
public void Patch()
{
RemoveExistingComponents();
PatchRigidbodies(EnableRigidbodiesGravity, SetRigidbodiesKinematic);
PatchMeshColliders(SetMeshCollidersConvex);
if (AddJointStateReaders)
{
JointStatePublisher jointStatePublisher = AddComponentIfNotExists <JointStatePublisher>();
jointStatePublisher.JointStateReaders = AddJointStateReaderComponents();
}
if (AddJointStateWriters)
{
JointStateSubscriber jointStateSubscriber = AddComponentIfNotExists <JointStateSubscriber>();
AddJointStateWriterComponents(out jointStateSubscriber.JointNames, out jointStateSubscriber.JointStateWriters);
}
}