void Start()
{
rosSocket = GameObject.Find("drone").GetComponent <RosConnector>().RosSocket;
droneBody = GameObject.Find("drone").GetComponent <Rigidbody>();
publication_id = rosSocket.Advertize(publishTopic, "sensor_msgs/PointCloud2");
laser = new rayCaster(maxLeftAngle, maxRightAngle, maxTopAngle, maxBottomAngle, verticalIncrement, horizontalIncrement, maxDistance, this, 1 << 8);
pcl.createPclCloud(0, 0, true);
pc = new SensorPointCloud2();
}
void Start()
{
Application.targetFrameRate = 60;
//ros connection
//rosSocket = new RosSocket("ws://192.168.1.10:9090");
rosSocket = transform.GetComponent <RosConnector>().RosSocket;
publication_id = rosSocket.Advertize("/drone/pos", "geometry_msgs/Pose");
droneBody = this.GetComponent <Rigidbody>();
c = new droneController(new controlVars(pidVelX), new controlVars(pidVelY), new controlVars(pidVelZ), new controlVars(pidAngVelY), Time.fixedDeltaTime);
//cam1.enabled = false;
//cam2.enabled = true;
}
// Use this for initialization
void Start()
{
rosSocket = GameObject.Find("drone").GetComponent <RosConnector>().RosSocket;
droneBody = GameObject.Find("drone").GetComponent <Rigidbody>();
publication_id = rosSocket.Advertize(publishTopic, "sensor_msgs/Imu");
}
// Use this for initialization
void Start()
{
rosSocket = GameObject.Find("drone").GetComponent <RosConnector>().RosSocket;
droneBody = GameObject.Find("drone").GetComponent <Rigidbody>();
publication_id = rosSocket.Advertize("drone/gps", "sensor_msgs/NavSatFix");
}