/*
* Here commands to the robot-side can be send
*/
void Update()
{
if (Input.GetKeyDown(KeyCode.C))
{
rosBridge.EnqueRosCommand(new RosPublish("/SModelRobotOutput", HandControlMessageGenerator.closeHand(1.0f)));
}
else if (Input.GetKeyDown(KeyCode.O))
{
rosBridge.EnqueRosCommand(new RosPublish("/SModelRobotOutput", HandControlMessageGenerator.openHand(1.0f)));
}
else if (Input.GetKey(KeyCode.M)) //sends a perormance-test ping message
{
JointState jointState = JointStateGenerator.emptyJointState();
Stamp stamp = new Stamp();
DateTime currentTime = DateTime.Now;
stamp.secs = currentTime.Second;
stamp.nsecs = currentTime.Millisecond;
Header header = new Header();
header.stamp = stamp;
header.seq = (ulong)messageSeq++;
header.frame_id = "Latency Test";
jointState.header = header;
rosBridge.EnqueRosCommand(new RosPublish("/joint_states", jointState));
//rosBridge.EnqueRosCommand (new RosPublish ("/SModelRobotOutput", HandControlMessageGenerator.openHand (1.0f)));
}
else if (Input.GetKeyDown(KeyCode.W))
{
rosBridge.WriteLatencyDataFile();
}
}
void Start()
{
//gripperMsgGen = new HandControlMessageGenerator ();
rosBridge = new RosBridgeClient(this.verbose, this.imageStreaming, this.jointStates, this.testLatency, this.pointCloud);
if (autoConnect)
{
Connect();
}
// leapController.Activate (useLeap);
if (testLatency)
{
jointStateMsgGen = new JointStateGenerator();
// rosBridge.EnqueRosCommand (new RosAdvertise ("/SModelRobotOutput", "SModel_robot_output"));
}
/*
* if (autoConnect)
* {
* if (!rosBridge.IsConnected())
* {
* Connect();
* }
* }
*/
}
