public void SetPublishJointStates(bool publish)
{
if (publish)
{
JointStatePublisher jointStatePublisher = transform.AddComponentIfNotExists <JointStatePublisher>();
jointStatePublisher.JointStateReaders = new List <JointStateReader>();
foreach (UrdfJoint urdfJoint in UrdfRobot.GetComponentsInChildren <UrdfJoint>())
{
if (urdfJoint.JointType != UrdfJoint.JointTypes.Fixed)
{
jointStatePublisher.JointStateReaders.Add(urdfJoint.transform.AddComponentIfNotExists <JointStateReader>());
}
}
}
else
{
GetComponent <JointStatePublisher>()?.JointStateReaders.Clear();
foreach (JointStateReader reader in UrdfRobot.GetComponentsInChildren <JointStateReader>())
{
reader.transform.DestroyImmediateIfExists <JointStateReader>();
}
}
}
public void Patch()
{
RemoveExistingComponents();
PatchRigidbodies(EnableRigidbodiesGravity, SetRigidbodiesKinematic);
PatchMeshColliders(SetMeshCollidersConvex);
if (AddJointStateReaders)
{
JointStatePublisher jointStatePublisher = AddComponentIfNotExists <JointStatePublisher>();
jointStatePublisher.JointStateReaders = AddJointStateReaderComponents();
}
if (AddJointStateWriters)
{
JointStateSubscriber jointStateSubscriber = AddComponentIfNotExists <JointStateSubscriber>();
AddJointStateWriterComponents(out jointStateSubscriber.JointNames, out jointStateSubscriber.JointStateWriters);
}
}
