private void OnGUI()
{
GUILayout.Label("URDF Asset Importer", EditorStyles.boldLabel);
EditorGUILayout.BeginHorizontal();
EditorGUIUtility.labelWidth = 100;
protocolType = (RosConnector.Protocols)EditorGUILayout.EnumPopup("Protocol", protocolType);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
address = EditorGUILayout.TextField("Address", address);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
timeout = EditorGUILayout.IntField("Timeout [s]", timeout);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
assetPath = EditorGUILayout.TextField("Asset Path", assetPath);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
EditorGUIUtility.labelWidth = 200;
robotDescriptionParamName = EditorGUILayout.TextField("Robot Description Param Name", robotDescriptionParamName);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
EditorGUILayout.Space();
if (GUILayout.Button("Reset to Default", GUILayout.Width(150)))
{
DeleteEditorPrefs();
GetEditorPrefs();
}
EditorGUILayout.EndHorizontal();
GUILayout.Space(20);
EditorGUILayout.BeginHorizontal();
if (GUILayout.Button("Read Robot Description."))
{
SetEditorPrefs();
Thread rosSocketConnectThread = new Thread(() => importHandler.BeginRosImport(protocolType, address, timeout, assetPath, robotDescriptionParamName));
rosSocketConnectThread.Start();
}
EditorGUILayout.EndHorizontal();
GUILayout.Space(20);
EditorGUIUtility.labelWidth = 300;
DrawLabelField("1. rosbridge_server Connected:", "connected");
DrawLabelField("2. Robot Name Received:", "robotNameReceived");
DrawLabelField("3. Robot Description Received:", "robotDescriptionReceived");
DrawLabelField("4. Resource Files Received:", "resourceFilesReceived");
DrawLabelField("5. rosbridge_server Disconnected:", "disconnected");
DrawLabelField("6. Import Complete:", "importComplete");
}
public void Transfer(RosConnector.Protocols protocolType, string serverUrl, int timeout, string urdfPath, string rosPackage)
{
if (Path.GetExtension(urdfPath)?.ToLowerInvariant() != ".urdf")
{
Debug.LogWarning("Please select a valid URDF file to publish.");
return;
}
Thread transferToRos = new Thread(() => TransferAsync(protocolType, serverUrl, timeout, urdfPath, rosPackage));
transferToRos.Start();
}
private void GetEditorPrefs()
{
protocolType = (RosConnector.Protocols)(EditorPrefs.HasKey("UrdfImporterProtocolNumber") ?
EditorPrefs.GetInt("UrdfImporterProtocolNumber") : 1);
address = (EditorPrefs.HasKey("UrdfImporterAddress") ?
EditorPrefs.GetString("UrdfImporterAddress") :
"ws://192.168.0.1:9090");
assetPath = (EditorPrefs.HasKey("UrdfImporterAssetPath") ?
EditorPrefs.GetString("UrdfImporterAssetPath") :
Path.Combine(Path.Combine(Path.GetFullPath("."), "Assets"), "Urdf"));
timeout = (EditorPrefs.HasKey("UrdfImporterTimeout") ?
EditorPrefs.GetInt("UrdfImporterTimeout") :
10);
}
public void BeginRosImport(RosConnector.Protocols protocolType, string serverUrl, int timeout, string assetPath)
{
this.timeout = timeout;
this.assetPath = assetPath;
// initialize
ResetStatusEvents();
rosSocket = RosConnector.ConnectToRos(protocolType, serverUrl, OnConnected, OnClosed);
if (!StatusEvents["connected"].WaitOne(timeout * 1000))
{
Debug.LogWarning("Failed to connect to ROS before timeout");
return;
}
ImportAssets();
}
private void TransferAsync(RosConnector.Protocols protocolType, string serverUrl, int timeout, string urdfPath, string rosPackage)
{
RosSocket = RosConnector.ConnectToRos(protocolType, serverUrl, OnConnected, OnClose);
if (!StatusEvents["connected"].WaitOne(timeout * 1000))
{
Debug.LogWarning("Failed to connect to " + serverUrl + " before timeout.");
RosSocket.Close();
return;
}
string robotName = Path.GetFileName(urdfPath);
UrdfTransferToRos urdfTransferToRos = new UrdfTransferToRos(RosSocket, robotName, urdfPath, rosPackage);
StatusEvents["robotNamePublished"] = urdfTransferToRos.Status["robotNamePublished"];
StatusEvents["robotDescriptionPublished"] = urdfTransferToRos.Status["robotDescriptionPublished"];
StatusEvents["resourceFilesSent"] = urdfTransferToRos.Status["resourceFilesSent"];
urdfTransferToRos.Transfer();
}
private void GetEditorPrefs()
{
protocolType = (RosConnector.Protocols)(EditorPrefs.HasKey("UrdfPublisherProtocolNumber") ?
EditorPrefs.GetInt("UrdfPublisherProtocolNumber") : 1);
serverUrl = (EditorPrefs.HasKey("UrdfPublisherServerUrl") ?
EditorPrefs.GetString("UrdfPublisherServerUrl") :
"ws://192.168.0.1:9090");
urdfPath = (EditorPrefs.HasKey("UrdfPublisherUrdfPath") ?
EditorPrefs.GetString("UrdfPublisherUrdfPath") :
Path.Combine(Path.Combine(Path.GetFullPath("."), "Assets"), "Urdf"));
rosPackage = (EditorPrefs.HasKey("UrdfPublisherRosPackage") ?
EditorPrefs.GetString("UrdfPublisherRosPackage") :
"new_package");
timeout = (EditorPrefs.HasKey("UrdfPublisherTimeout") ?
EditorPrefs.GetInt("UrdfPublisherTimeout") :
10);
}
private void OnGUI()
{
GUILayout.Label("URDF Transfer (From ROS to Unity)", EditorStyles.boldLabel);
EditorGUILayout.BeginHorizontal();
address = EditorGUILayout.TextField("Address", address);
EditorGUILayout.EndHorizontal();
showSettings = EditorGUILayout.Foldout(showSettings, "Settings");
if (showSettings)
{
EditorGUILayout.BeginHorizontal();
EditorGUIUtility.labelWidth = 100;
protocolType = (RosConnector.Protocols)EditorGUILayout.EnumPopup("Protocol", protocolType);
EditorGUILayout.EndHorizontal();
//TODO URDF Parameter
EditorGUILayout.BeginHorizontal();
urdfParameter = EditorGUILayout.TextField("URDF Parameter", urdfParameter);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
timeout = EditorGUILayout.IntField("Timeout [s]", timeout);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
assetPath = EditorGUILayout.TextField("Asset Path", assetPath);
EditorGUILayout.EndHorizontal();
}
EditorGUILayout.BeginHorizontal();
EditorGUILayout.Space();
if (GUILayout.Button("Reset to Default", GUILayout.Width(150)))
{
DeleteEditorPrefs();
GetEditorPrefs();
}
EditorGUILayout.EndHorizontal();
GUILayout.Space(20);
EditorGUILayout.BeginHorizontal();
if (GUILayout.Button("Read Robot Description"))
{
SetEditorPrefs();
Thread rosSocketConnectThread = new Thread(() => transferHandler.TransferUrdf(protocolType, address, timeout, assetPath, urdfParameter));
rosSocketConnectThread.Start();
}
EditorGUILayout.EndHorizontal();
GUILayout.Space(20);
EditorGUIUtility.labelWidth = 300;
DrawLabelField("Connected:", "connected");
DrawLabelField("Robot Name Received:", "robotNameReceived");
DrawLabelField("Robot Description Received:", "robotDescriptionReceived");
DrawLabelField("Resource Files Received:", "resourceFilesReceived");
DrawLabelField("Disconnected:", "disconnected");
DrawLabelField("Import Complete:", "importComplete");
}
private void OnGUI()
{
GUILayout.Label("URDF Transfer (From Unity to ROS)", EditorStyles.boldLabel);
EditorGUILayout.BeginHorizontal();
EditorGUIUtility.labelWidth = 100;
protocolType = (RosConnector.Protocols)EditorGUILayout.EnumPopup("Protocol", protocolType);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
serverUrl = EditorGUILayout.TextField("Server URL", serverUrl);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
timeout = EditorGUILayout.IntField("Timeout [s]", timeout);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
urdfPath = EditorGUILayout.TextField("URDF to export", urdfPath);
if (GUILayout.Button("Select", new GUIStyle(EditorStyles.miniButtonRight)
{
fixedWidth = 75
}))
{
urdfPath = EditorUtility.OpenFilePanel("Select a URDF file", urdfPath, "urdf");
}
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
rosPackage = EditorGUILayout.TextField(
new GUIContent("ROS package",
"The package where all meshes and resources files will be exported to in ROS."),
rosPackage);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
EditorGUILayout.Space();
if (GUILayout.Button("Reset to Default", GUILayout.Width(150)))
{
DeleteEditorPrefs();
GetEditorPrefs();
}
EditorGUILayout.EndHorizontal();
GUILayout.Space(10);
EditorGUILayout.BeginHorizontal();
if (GUILayout.Button("Publish Robot Description"))
{
SetEditorPrefs();
transferHandler.Transfer(protocolType, serverUrl, timeout, urdfPath, rosPackage);
}
EditorGUILayout.EndHorizontal();
GUILayout.Space(20);
EditorGUIUtility.labelWidth = 225;
DrawLabelField("Connected: ", "connected");
DrawLabelField("Robot name published: ", "robotNamePublished");
DrawLabelField("Robot description published: ", "robotDescriptionPublished");
DrawLabelField("All resources files published: ", "resourceFilesSent");
GUILayout.Space(10);
EditorGUI.BeginDisabledGroup(transferHandler.RosSocket == null || !transferHandler.RosSocket.protocol.IsAlive());
if (GUILayout.Button("Close Connection"))
{
transferHandler.RosSocket?.Close();
}
EditorGUI.EndDisabledGroup();
}