// Update is called once per frame
void Update()
{
if (Input.GetKeyDown(KeyCode.Space))
{
List <string> objects = new List <string>();
objects.Add("Roboy_simplified");
List <Vector3> positions = new List <Vector3>();
positions.Add(GazeboUtility.UnityPositionToGazebo(new Vector3(2.3123f, 2.2311f, 0.5f)));
ModelMsg msg = new ModelMsg(1, 1, objects, positions);
Debug.Log(msg.ToYAMLString());
ROSBridge.Instance.Publish(RoboyModelPublisher.GetMessageTopic(), msg);
}
else if (Input.GetKeyDown(KeyCode.Escape))
{
List <string> objects = new List <string>();
objects.Add("Roboy_simplified");
List <Vector3> positions = new List <Vector3>();
positions.Add(Vector3.zero);
ModelMsg msg = new ModelMsg(0, 1, objects, positions);
ROSBridge.Instance.Publish(RoboyModelPublisher.GetMessageTopic(), msg);
}
}
public static string ToYAMLString(ModelMsg msg)
{
return(msg.ToYAMLString());
}
