public void EnableHoloLearning(bool holoEnabled) { holoLearningEnabled = holoEnabled; ROSCommunicationManager.Instance.ros.Publish(HoloLensLearningPublisher.GetMessageTopic(), new BoolMsg(holoLearningEnabled), debug_log: false); }
void Update() { if (connectToROS) { ros.SetIPConfig(serverIP, port); ros.AddSubscriber(typeof(DetectedObjectsSubscriber)); ros.AddSubscriber(typeof(InterfaceStateSubscriber)); ros.AddSubscriber(typeof(HololensStateSubscriber)); ros.AddSubscriber(typeof(CollisionEnvSubscriber)); ros.AddSubscriber(typeof(LearningRequestActionResultSubscriber)); ros.AddPublisher(typeof(HoloLensClickPublisher)); ros.AddPublisher(typeof(HoloLensActivityPublisher)); ros.AddPublisher(typeof(HoloLensLearningPublisher)); ros.AddPublisher(typeof(InterfaceStatePublisher)); ros.AddPublisher(typeof(CollisionEnvPublisher)); ros.AddPublisher(typeof(TFPublisher)); ros.AddPublisher(typeof(LearningRequestActionGoalPublisher)); ros.AddPublisher(typeof(TF2WebRepublisherGoalPublisher)); ros.AddPublisher(typeof(TF2WebRepublisherCancelPublisher)); ros.AddSubscriber(typeof(TF2WebRepublisherFeedbackSubscriber)); ros.AddSubscriber(typeof(GuiNotificationsSubscriber)); ros.AddSubscriber(typeof(RobotLeftArmGraspedObjectSubscriber)); ros.AddSubscriber(typeof(RobotRightArmGraspedObjectSubscriber)); ros.AddServiceResponse(typeof(ROSCommunicationManager)); ros.Connect(); connectToROS = false; } if (ros._connected) { connectedToROS = true; //activate callbacks ros.Render(); //every 5 secs publish activity msg if (awake_counter <= 0f) { ros.Publish(HoloLensActivityPublisher.GetMessageTopic(), new BoolMsg(true), debug_log: false); ros.Publish(HoloLensLearningPublisher.GetMessageTopic(), new BoolMsg(InteractiveProgrammingManager.Instance.holoLearningEnabled), debug_log: false); awake_counter = 5f; } awake_counter -= Time.deltaTime; //if(UnbiasedTime.Instance.TimeSynchronized) { // try { // Debug.Log(ROSTimeHelper.GetCurrentTime().ToYAMLString()); // } // catch (Exception e) { // } //} } if (!ros._connected) { connectedToROS = false; } }