void PublishWindDirection()
{
if (ready)
{
RosInterface.Publish <Float32> ("/anemometer", new Float32(windDirection));
}
}
void PublishCurrentPos()
{
if (ready)
{
RosInterface.Publish <Point> ("/lps", new Point(boatPos));
}
}
void PublishWaypoints()
{
if (ready)
{
RosInterface.Publish <PointArray> ("/waypoints", new PointArray(waypoints));
}
}
void Awake()
{
if (!instance)
{
instance = this;
}
else
{
Debug.LogWarning("Please only have one instance of RosInterface script.");
}
}
//entry point
public void InitSimulation(string ip)
{
//expect ip to be in format "192.168.0.29:9090"
string fullUrl = "ws://" + ip;
RosInterface.Connect(fullUrl);
RosInterface.Subscribe <BoatState> ("/boat_state", "boat_msgs/BoatState").MessageReceived += OnBoatStateMsg;
RosInterface.Subscribe <Float32> ("/target_heading", "std_msgs/Float32").MessageReceived += OnHeadingMsg;
RosInterface.Subscribe <Float32> ("/winch", "std_msgs/Int32").MessageReceived += OnWinchMsg;
RosInterface.Advertise("/lps", "boat_msgs/Point");
RosInterface.Advertise("/waypoints", "boat_msgs/PointArray");
RosInterface.Advertise("/anemometer", "std_msgs/Float32");
ready = true;
PublishWaypoints();
PublishWindDirection();
boatPos = boatVel = boatAccel = Vector2.zero;
PublishCurrentPos();
}
