void Start()
{
// Create car objects and subscriber/rosconnector for each car
cars = new List <GameObject>();
rosInterfaces = new List <GameObject>();
numSamePos = new List <int>();
prevPos = new List <Vector3>();
for (int i = 0; i < numCars; i++)
{
GameObject car = Instantiate(Resources.Load("Prefabs/Car_" + i)) as GameObject;
car.name = "Car_" + i;
car.transform.localScale = new Vector3(2.5f, 2.5f, 2.5f);
car.transform.position = new Vector3(0f, wheelOffset, 0f);
car.SetActive(false);
BoxCollider boxCollider = car.AddComponent(typeof(BoxCollider)) as BoxCollider;
if (egoCarNum == i)
{
egoCarGoal = new GameObject();
egoCarGoal.transform.position = initPosition;
PoseStampedPublisher poseStampedPublisher = egoCarGoal.AddComponent(typeof(PoseStampedPublisher)) as PoseStampedPublisher;
poseStampedPublisher.Topic = "/car/" + i + "/nav/goal";
poseStampedPublisher.PublishedTransform = egoCarGoal.transform;
EgoCarEvaluationInterface evaluationInterface = car.AddComponent(typeof(EgoCarEvaluationInterface)) as EgoCarEvaluationInterface;
LineRenderer lineRenderer = car.AddComponent(typeof(LineRenderer)) as LineRenderer;
Rigidbody rigidBody = car.AddComponent(typeof(Rigidbody)) as Rigidbody;
car.GetComponent <Rigidbody>().isKinematic = true;
}
car.SetActive(true);
cars.Add(car);
prevPos.Add(car.transform.position);
numSamePos.Add(0);
GameObject rosInterface = new GameObject();
rosInterface.name = "RosInterface" + i;
rosInterface.transform.position = new Vector3(0f, 0f, 0f);
rosInterface.SetActive(false);
RosConnector rosConnector = rosInterface.AddComponent(typeof(RosConnector)) as RosConnector;
rosConnector.Protocol = RosConnector.Protocols.WebSocketSharp;
rosConnector.Timeout = 10;
rosConnector.RosBridgeServerUrl = url;
rosConnector.Awake();
PoseStampedSubscriber poseStampedSubscriber = rosInterface.AddComponent(typeof(PoseStampedSubscriber)) as PoseStampedSubscriber;
poseStampedSubscriber.TimeStep = 0.1f;
poseStampedSubscriber.Topic = "/car/" + i + "/pose";
poseStampedSubscriber.PublishedTransform = rosInterface.transform;
poseStampedSubscriber.Awake();
rosInterface.SetActive(true);
rosInterfaces.Add(rosInterface);
}
}
public Navigation(string name)
{
base.init(name);
velocityPublisher = new TwistPublisher("/cmd_vel");
odomSubscriber = new OdomSubscriber("/odom", 50);
navMapPublisher = new PoseStampedPublisher("/move_base_simple/goal");
scanSubscriber = new LaserScanSubscriber("/scan", 500);
}
private void Awake()
{
timeWindow = HumanStateManager.instance.timeWindow;
timeSinceLastAction = 0;
kuriEmoteStringPublisher = FindObjectOfType <KuriEmoteStringPublisher>();
poseStampPublisher = FindObjectOfType <PoseStampedPublisher>();
kuriGoalPoseTransform = transform.GetChild(0);
kuriCurPoseTransform = transform.GetChild(1);
LoggingManager.instance.AddLogColumn(rISACol, "");
LoggingManager.instance.AddLogColumn(robotKCLevel, "");
}
private void Start()
{
// Initialize pose publisher
goalPublisher = gameObject.GetComponent(typeof(PoseStampedPublisher)) as PoseStampedPublisher;
}
