public static void CallBack(ROSBridgeMsg msg)
{
EnvironmentMsg poseMsg = (EnvironmentMsg)msg;
if (poseMsg.id_.Contains("hoop"))
{
char numID = poseMsg.id_[poseMsg.id_.Length - 1];
//Debug.Log("Got a tf message: " + poseMsg.id_[poseMsg.id_.Length - 1]);
GameObject currentHoop = null;
GameObject hoopLabel = null;
if (!WorldScript.hoopsDict.ContainsKey(numID))
{
GameObject world = GameObject.FindWithTag("World");
currentHoop = Object.Instantiate(world.GetComponent <WorldScript>().torus);
currentHoop.transform.parent = world.transform;
WorldScript.hoopsDict[numID] = currentHoop;
Debug.Log("Made hoop with id: " + numID);
}
else
{
currentHoop = WorldScript.hoopsDict[numID];
}
currentHoop.transform.localPosition = WorldScript.RosSpaceToWorldSpace(poseMsg.x_, poseMsg.y_, poseMsg.z_) + new Vector3(0.31f, 0f, 0f);
currentHoop.transform.localScale = new Vector3(3.3f, 3.3f, 3.3f);
currentHoop.transform.localRotation = new Quaternion(poseMsg.x_rot_ + 1, poseMsg.y_rot_, poseMsg.z_rot_, poseMsg.w_rot_);
}
}
