public void NewRobotSelected(GameObject robot)
{
//Debug.Log("new Robot Selected: " + robot.name);
if (robot.GetComponent <RosConnector>() == null)
{
Debug.Log("Error: No rosConnector found");
return;
}
robotManager = robot;
rosConnector = robotManager.GetComponent <RosConnector>();
jointStatePublisher = robotManager.GetComponent <JointStatePublisher>();
jointStateSubscriber = robotManager.GetComponent <JointStateSubscriber>();
poseStampedPublisher = robotManager.GetComponent <CustomPoseStampedPublisher>();
rosMode = dropdownRobotManager.robotConfigs[dropdownRobotManager.robotDropdown.value].rosMode;
poseMode = dropdownRobotManager.robotConfigs[dropdownRobotManager.robotDropdown.value].poseMode;
rosModeDropdown.value = rosMode;
poseStampDropdown.value = poseMode;
intervalSlider.value = dropdownRobotManager.robotConfigs[dropdownRobotManager.robotDropdown.value].poseInterval;
}
public void NewRobotSelected(GameObject robot)
{
if (robot.GetComponent <RosConnector>() == null)
{
Debug.Log("Error: No rosConnector found");
return;
}
robotManager = robot;
rosConnector = robotManager.GetComponent <RosConnector>();
jointStatePublisher = robotManager.GetComponent <JointStatePublisher>();
jointStateSubscriber = robotManager.GetComponent <JointStateSubscriber>();
poseStampedPublisher = robotManager.GetComponent <CustomPoseStampedPublisher>();
rosMode = dropdownRobotManager.robotConfigs[dropdownRobotManager.currentRobot].rosMode;
poseMode = dropdownRobotManager.robotConfigs[dropdownRobotManager.currentRobot].poseMode;
rosModeDropdown.value = rosMode;
poseStampDropdown.value = poseMode;
//intervalSlider.value = dropdownRobotManager.robotConfigs[dropdownRobotManager.currentRobot].poseInterval; //Activate for non-MRTK applications
intervalSlider.SliderValue = dropdownRobotManager.robotConfigs[dropdownRobotManager.currentRobot].poseInterval;
}
public override void OnInspectorGUI()
{
EditorGUILayout.HelpBox("This is the central point of your outgoing robot communication. " +
"Enter the details of your mqtt broker, the topic to publish to, set your target update rate as in 'every X frames' and specify the robotParent object. " +
"Either presss play and see if your robotcontrollers are in the correct order, press on 'Find Joints and configure' or manually specificy the order.", MessageType.Info);
DrawDefaultInspector();
if (buttonStyle == null)
{
buttonStyle = new GUIStyle(EditorStyles.miniButtonRight)
{
fixedWidth = 75
}
}
;
jointStatePublisher = (JointStatePublisher)target;
if (GUILayout.Button("Find joints in robot and configure"))
{
jointStatePublisher.FindJoints();
}
}
}
