public void Publish(String _topic, ROSBridgeMsg _msg)
{
if (ros._connected)
{
ros.Publish(_topic, _msg);
}
}
public new static void CallBack(ROSBridgeMsg msg, string ip)
{
var robots = Object.FindObjectsOfType <ROS>();
foreach (ROS r in robots)
{
if (r.ip == ip)
{
r.UnSubcribe(typeof(Client_Count_sub));
return;
}
}
}
public new static void CallBack(ROSBridgeMsg msg, string host)
{
var robot = GameObject.FindGameObjectWithTag("Robot");
if (robot != null)
{
PoseWithCovarianceStampedMsg _transforms = (PoseWithCovarianceStampedMsg)msg;
Vector3 position = _transforms.GetPose().GetPose().GetPositionUnity();
Quaternion rotation = _transforms.GetPose().GetPose().GetRotationUnity();
robot.transform.SetPositionAndRotation(position, rotation);
}
else
{
Debug.LogWarning("Can not find a gameobject with the tag Robot");
}
}
public new static void CallBack(ROSBridgeMsg msg, string ip)
{
Object.FindObjectOfType <TFSystem>().NewTf((TFMsg)msg, ip);
}
public new static void CallBack(ROSBridgeMsg msg, string host)
{
Object.FindObjectOfType <TerrainConstructor>().NewOcupanceGridMsg((OccupancyGridMsg)msg);
}
public new static void CallBack(ROSBridgeMsg msg, string ip)
{
Object.FindObjectOfType <VirtualObjectSystem>().DetectedObject((DetectionArrayMsg)msg, ip);
}