private IEnumerator SendPathToROS(ROS ros)
{
while (Application.isPlaying)
{
if (ros.IsConnected())
{
Vector3[] points = agent.path.corners;
PoseStampedMsg[] poses = new PoseStampedMsg[points.Length];
HeaderMsg head = new HeaderMsg(0, new TimeMsg(DateTime.Now.Second, 0), "map");
Quaternion rotation = transform.rotation;
for (int i = 0; i < points.Length; i++)
{
head.SetSeq(i);
if (i > 0)
{
rotation = Quaternion.FromToRotation(points[i - 1], points[i]);
}
poses[i] = new PoseStampedMsg(head, new PoseMsg(points[i], rotation, true));
}
HeaderMsg globalHead = new HeaderMsg(0, new TimeMsg(DateTime.Now.Second, 0), "map");
PathMsg pathmsg = new PathMsg(globalHead, poses);
ros.Publish(Path_pub.GetMessageTopic(), pathmsg);
}
yield return(new WaitForSeconds(rOSFrecuencyPath));
}
}
// This function was design by: Jose Luiz Matez
private IEnumerator SendInterpolatedPathToROS(ROS ros)
{
while (Application.isPlaying)
{
if (ros.IsConnected())
{
Vector3[] points = agent.path.corners;
Vector3[] path = new Vector3[6];
float[] distances = new float[points.Length];
float[] angles = new float[points.Length];
PoseStampedMsg[] poses = new PoseStampedMsg[path.Length];
for (int i = 0; i < (points.Length - 1); i++)
{
if (i == 0)
{
distances[i] = Vector3.Distance(transform.position, points[i + 1]);
}
else
{
distances[i] = Vector3.Distance(points[i], points[i + 1]);
}
angles[i] = Mathf.Atan2(points[i + 1].z - points[i].z, points[i + 1].x - points[i].x);
}
path[0] = transform.position;
HeaderMsg head = new HeaderMsg(0, new TimeMsg(DateTime.Now.AddSeconds(0).Second, 0), "map");
Quaternion rotation = transform.rotation;
poses[0] = new PoseStampedMsg(head, new PoseMsg(path[0], rotation, true));
head.SetSeq(0);
for (int j = 1; j < 6; j++)
{
float accumulatedDistance = 0.0f;
int idx = 0;
while (accumulatedDistance < agent.velocity.magnitude && idx < distances.Length)
{
if (idx < distances.Length)
{
if (distances[idx] >= (agent.velocity.magnitude - accumulatedDistance))
{
distances[idx] = distances[idx] - (agent.velocity.magnitude - accumulatedDistance);
accumulatedDistance = accumulatedDistance + (agent.velocity.magnitude - accumulatedDistance);
}
else
{
accumulatedDistance = accumulatedDistance + distances[idx];
distances[idx] = 0.0f;
if (idx == (distances.Length - 1))
{
HeaderMsg head_path = new HeaderMsg(0, new TimeMsg(DateTime.Now.AddSeconds(j).Second, 0), "map");
Quaternion add_rotation = Quaternion.Euler(0.0f, angles[idx], 0.0f);
rotation = rotation * add_rotation;
head.SetSeq(j);
path[j] = new Vector3(path[j - 1].x + accumulatedDistance * Mathf.Cos(angles[idx]), 0.0f, path[j - 1].z + accumulatedDistance * Mathf.Sin(angles[idx]));
poses[j] = new PoseStampedMsg(head_path, new PoseMsg(path[j], rotation, true));
}
}
if (accumulatedDistance == agent.velocity.magnitude)
{
HeaderMsg head_path = new HeaderMsg(0, new TimeMsg(DateTime.Now.AddSeconds(j).Second, 0), "map");
Quaternion add_rotation = Quaternion.Euler(0.0f, angles[idx], 0.0f);
rotation = rotation * add_rotation;
head.SetSeq(j);
path[j] = new Vector3(path[j - 1].x + accumulatedDistance * Mathf.Cos(angles[idx]), 0.0f, path[j - 1].z + accumulatedDistance * Mathf.Sin(angles[idx]));
poses[j] = new PoseStampedMsg(head_path, new PoseMsg(path[j], rotation, true));
}
idx = idx + 1;
}
else
{
accumulatedDistance = agent.velocity.magnitude;
path[j] = path[j - 1];
HeaderMsg head_path = new HeaderMsg(0, new TimeMsg(DateTime.Now.AddSeconds(j).Second, 0), "map");
head.SetSeq(j);
path[j] = new Vector3(path[j - 1].x + accumulatedDistance * Mathf.Cos(angles[idx]), 0.0f, path[j - 1].z + accumulatedDistance * Mathf.Sin(angles[idx]));
poses[j] = new PoseStampedMsg(head_path, new PoseMsg(path[j], rotation, true));
}
}
}
if (poses[1] != null)
{
HeaderMsg globalHead = new HeaderMsg(0, new TimeMsg(DateTime.Now.Second, 0), "map");
PathMsg pathmsg = new PathMsg(globalHead, poses);
ros.Publish(Path_pub.GetMessageTopic(), pathmsg);
}
}
yield return(new WaitForSeconds(rOSFrecuencyPath));
}
}
