public new static void CallBack(ROSBridgeMsg msg)
{
CompressedImageMsg imgMsg = msg as CompressedImageMsg;
//HUD.droneCamera.LoadImage(imgMsg.GetImage());
ROSManager.getInstance().getdroneCam().LoadImage(imgMsg.GetImage());
}
private void getROSLinearVelocity()
{
if (ROSLinearVelocityOut != null)
{
ROSLinearVelocityOut.text = ROSManager.getInstance().getLinear().ToString();
}
}
// Use this for initialization
void Start()
{
gameManager = GameManager.getInstance();
rosManager = gameManager.getROSManager();
rawImage = this.gameObject.GetComponent <RawImage>();
}
public new static void CallBack(ROSBridgeMsg msg)
{
GeoPointMsg LocationGPS = msg as GeoPointMsg;
ROSManager.getInstance().setLatitude(LocationGPS.GetLatitude());
ROSManager.getInstance().setLongitude(LocationGPS.GetLongitude());
ROSManager.getInstance().setAltitude(LocationGPS.GetAltitude());
//Debug.Log(LocationGPS.ToYAMLString());
}
// Use this for initialization
void Start()
{
rosManager = ROSManager.getInstance();
longitudeOffset = rosManager.getLongitude();
latitudeOffset = rosManager.getLatitude();
setOffset();
}
// Use this for initialization
void Start()
{
droneRigidbody = Drone.GetComponent <Rigidbody>();
droneTransform = Drone.GetComponent <Transform>();
drn_angularVelocityVector = droneTransform.eulerAngles;
drn_velocityVector = droneTransform.position;
rosManager = ROSManager.getInstance();
}
static ROSMonoBehavior()
{
rosmanager = new ROSManager();
#if UNITY_EDITOR
UnityEditor.EditorApplication.playmodeStateChanged = () =>
{
string state = "";
if (EditorApplication.isPlaying)
{
state += "playing";
}
if (EditorApplication.isPaused)
{
state += " paused";
}
if (EditorApplication.isCompiling)
{
state += " compiling";
}
state = state.Trim(' ');
Debug.LogWarning("PlayMode == " + state);
if (!EditorApplication.isPlaying && !EditorApplication.isPaused)
{
ROS.Unfreeze();
if (ROS.ok || ROS.isStarted())
{
ROSManager.StopROS();
}
}
else if (EditorApplication.isPlaying)
{
if (!EditorApplication.isPaused)
{
ROS.Unfreeze();
rosmanager.StartROS(null, null);
}
else
{
ROS.Freeze();
}
}
};
#endif
}
public new static void CallBack(ROSBridgeMsg msg)
{
TwistMsg OdomData = msg as TwistMsg;
ROSManager.getInstance().setLinear(OdomData.GetLinear());
ROSManager.getInstance().setAngular(OdomData.GetAngular());
Debug.Log(OdomData.ToYAMLString());
//GeoPointMsg LocationGPS = msg as GeoPointMsg;
//ROSManager.getInstance().setLatitude(LocationGPS.GetLatitude());
//ROSManager.getInstance().setLongitude(LocationGPS.GetLongitude());
//ROSManager.getInstance().setAltitude(LocationGPS.GetAltitude());
//Debug.Log(LocationGPS.ToYAMLString());
//CompressedImageMsg imgMsg = msg as CompressedImageMsg;
//ROSManager.getInstance().getUBDCam().LoadImage(imgMsg.GetImage());
}
private void ubdMovement()
{
//float modifySpeed = 0.15f;
//Angular movement
//get axis to rotate around
Vector3 leftaxis = transform.TransformDirection(Vector3.up);
//rotate
this.transform.RotateAround(transform.position, leftaxis, Input.GetAxis("Horizontal"));
//Linear movement
//Vector3.left is used because UBD transform is off
this.transform.Translate(Input.GetAxis("Vertical") * Vector3.left * modifySpeed * Time.deltaTime);
//constructing ROS teleop message
float _dx = Input.GetAxis("Horizontal");
float _dy = Input.GetAxis("Vertical");
float linear = _dy * 0.6f;
float angular = -_dx * 1.6f;
ROSManager.getInstance().RemoteControl(new Vector3(linear, 0.0f, 0.0f), new Vector3(0.0f, 0.0f, angular));
}
// Use this for initialization
void Start()
{
rosManager = ROSManager.getInstance();
}
public ROSManager getROSManager()
{
return(ROSManager.getInstance());
}
// Update is called once per frame
void Update()
{
ROSManager.getInstance().ROSRender();
}
