// Start is called before the first frame update
void Start()
{
_renderer = SpaceRenderer.GetSpaceRenderer(spaceRendererType, this);
_provider = LidarDataProvider.GetLidarDataProvider(lidarDataProviderType, this);
InvokeRepeating("RegenerateSite", 0f, 1f / renderCallsPerSecond);
}
public static ILidarDataProvider GetLidarDataProvider(LidarDataProviderClass ldpc, LidarVisualizer owner)
{
ILidarDataProvider provider = null;
switch (ldpc)
{
case LidarDataProviderClass.SIMPLE_RANDOM:
provider = new SimpleRandomDataProvider();
break;
case LidarDataProviderClass.ROS2:
provider = new ROS2LidarSubscription();
break;
}
if (provider == null)
{
Debug.LogError("Unsupported lidar data provider was asked for");
return(null);
}
provider.Config(owner);
return(provider);
}
public static ILidarDataProvider GetLidarDataProvider(LidarDataProviderClass ldpc, LidarVisualizer owner)
{
ILidarDataProvider provider = null;
switch (ldpc)
{
case LidarDataProviderClass.SIMPLE_RANDOM:
provider = new SimpleRandomDataProvider();
break;
case LidarDataProviderClass.ROS1:
#if ROS1_MODULE_LIDAR
ROS1LidarSubscription sub = owner.gameObject.AddComponent <ROS1LidarSubscription>();
sub.Config(owner);
sub.Init();
provider = sub;
#else
Debug.LogError("ROS1 data provider classes not imported!");
#endif
break;
case LidarDataProviderClass.ROS2:
#if ROS2_MODULE_LIDAR
provider = new ROS2LidarSubscription();
#else
Debug.LogError("ROS2 data provider classes not imported!");
#endif
break;
}
if (provider == null)
{
Debug.LogError("Unsupported lidar data provider was asked for");
return(null);
}
provider.Config(owner);
return(provider);
}