// Update is called once per frame void Update() { if (Input.GetKeyDown(KeyCode.Space)) { List <string> objects = new List <string>(); objects.Add("Roboy_simplified"); List <Vector3> positions = new List <Vector3>(); positions.Add(GazeboUtility.UnityPositionToGazebo(new Vector3(2.3123f, 2.2311f, 0.5f))); ModelMsg msg = new ModelMsg(1, 1, objects, positions); Debug.Log(msg.ToYAMLString()); ROSBridge.Instance.Publish(RoboyModelPublisher.GetMessageTopic(), msg); } else if (Input.GetKeyDown(KeyCode.Escape)) { List <string> objects = new List <string>(); objects.Add("Roboy_simplified"); List <Vector3> positions = new List <Vector3>(); positions.Add(Vector3.zero); ModelMsg msg = new ModelMsg(0, 1, objects, positions); ROSBridge.Instance.Publish(RoboyModelPublisher.GetMessageTopic(), msg); } }
public static string ToYAMLString(ModelMsg msg) { return(msg.ToYAMLString()); }