private void Update()
{
// Move our position a step closer to the target.
float step = speed * Time.deltaTime; // calculate distance to move
cube.transform.position = Vector3.MoveTowards(cube.transform.position, destination, step);
if (Vector3.Distance(cube.transform.position, destination) < delta && Time.time > awaitingResponseUntilTimestamp)
{
Debug.Log("Destination reached.");
PosRotMsg cubePos = new PosRotMsg(
cube.transform.position.x,
cube.transform.position.y,
cube.transform.position.z,
cube.transform.rotation.x,
cube.transform.rotation.y,
cube.transform.rotation.z,
cube.transform.rotation.w
);
PositionServiceRequest positionServiceRequest = new PositionServiceRequest(cubePos);
// Send message to ROS and return the response
ros.SendServiceMessage <PositionServiceResponse>(serviceName, positionServiceRequest, Callback_Destination);
awaitingResponseUntilTimestamp = Time.time + 1.0f; // don't send again for 1 second, or until we receive a response
}
}
private void Update()
{
timeElapsed += Time.deltaTime;
if (timeElapsed > publishMessageFrequency)
{
cube.transform.rotation = Random.rotation;
PosRotMsg cubePos = new PosRotMsg(
cube.transform.position.x,
cube.transform.position.y,
cube.transform.position.z,
cube.transform.rotation.x,
cube.transform.rotation.y,
cube.transform.rotation.z,
cube.transform.rotation.w
);
// Finally send the message to server_endpoint.py running in ROS
ros.Publish(topicName, cubePos);
timeElapsed = 0;
}
}
