// Update is called once per frame in Unity
void Update()
{
if (!started && Input.GetButtonDown("Start"))
{
ConnectionStatus.text = "Connected";
started = true;
ros = new ROSBridgeWebSocketConnection("ws://localhost", 8080);
ros.AddPublisher(typeof(CommandPublisher));
ros.AddPublisher(typeof(VelocityPublisher));
// Fire up the subscriber(s) and publisher(s)
ros.Connect();
}
ControlCommand command_msg = GetControlCommand();
Debug.Log("Sending: " + command_msg.ToYAMLString());
ControlVelocity velocity_msg = new ControlVelocity(GetPitch(), GetRoll(), GetThrottle(), GetYaw());
Debug.Log("Sending: " + velocity_msg.ToYAMLString());
// Publish it (ros is the object defined in the first class)
ros.Publish(CommandPublisher.GetMessageTopic(), command_msg);
ros.Publish(VelocityPublisher.GetMessageTopic(), velocity_msg);
ros.Render();
}
