public MarkersVisual(string topic)
{
ROSConnection ros = ROSConnection.GetOrCreateInstance();
RosTopicState state = ros.GetTopic(topic);
if (state.RosMessageName == MarkerArrayMsg.k_RosMessageName)
{
ros.Subscribe <MarkerArrayMsg>(topic, OnMarkerArray);
}
else if (state.RosMessageName == MarkerMsg.k_RosMessageName)
{
ros.Subscribe <MarkerMsg>(topic, OnMarker);
}
}
/// <summary>
/// Initialize the component by fetching all expected joints and starting to publish to ROS
/// </summary>
void Start()
{
// Get ROS connection static instance
ros = ROSConnection.instance;
// Get the root of the joint tree
ArticulationBody root = jointGroup.GetComponent <ArticulationBody>();
// Iteratively find all articulate bodies until we find the end effector
int c = 0;
while (root)
{
jointArticulationBodies.Add(root);
var name = root.GetComponent <RosSharp.Urdf.UrdfJoint>().jointName;
jointPositionIndex.Add(name, c);
var next_joints = root.transform.GetComponentsInChildren <ArticulationBody>().
Where(t => t.gameObject != root.gameObject);
// No more joints
if (next_joints.Count() == 0)
{
break;
}
root = next_joints.First();
c += 1;
}
// Continuously publish the joint configuration of the robot
InvokeRepeating("PublishJointStates", 1.0f, jointPublishRate);
// Subscribe to the moveit trajectory topic
ros.Subscribe <RosMessageTypes.Trajectory.JointTrajectory>
(moveItMoveGroupRoot + moveItMoveGroup, TrajectoryHandler);
}
void Start()
{
ros.Subscribe <RobotMoveActionGoal>(rosRobotCommandsTopicName, ExecuteRobotCommands);
}
void Start()
{
// Get ROS connection static instance
m_Ros = ROSConnection.GetOrCreateInstance();
m_Ros.Subscribe <RobotMoveActionGoal>(rosRobotCommandsTopicName, ExecuteRobotCommands);
}
protected override void OnCreate()
{
ros = Object.FindObjectOfType <ROSConnection>();
ros.Subscribe <RobotWheelSpeed>(topicName, UpdateWheelSpeed);
}
void Start()
{
ros.Subscribe <RosMessageTypes.Simulation.Robot>(topicName, SpawnRobot);
}
void Start()
{
ros.Subscribe <RosColor>("color", ColorChange);
}
