public ROS2LidarSubscription()
{
_r2l = ROS2Listener.instance;
_sub = _r2l.node.CreateSubscription <LaserScan>(
"scan", msg => {
_curScan = msg;
}, ROS2.Utils.QosProfile.Profile.SensorData);
}
public void Config(LidarVisualizer viz)
{
_owner = viz;
_r2l = ROS2Listener.instance;
_sub = _r2l.node.CreateSubscription <LaserScan>(
_owner.topic, msg => {
_curScan = msg;
}, ROS2.Utils.QosProfile.Profile.SensorData);
}
/// <summary>
/// Called only by the instance singleton getter when the instance has not yet been initialized.
/// </summary>
/// <returns>The instance of this singleton class</returns>
private static ROS2Listener Init()
{
// attempt to find an instance already in the scene
_instance = FindObjectOfType <ROS2Listener>();
if (_instance != null)
{
Debug.LogWarning("ROS2Listener.Init() is being called even when the singleton instance already exists!");
return(_instance);
}
Debug.Log("ROS is Awake");
GameObject obj = new GameObject("ROS2Listener");
_instance = obj.AddComponent <ROS2Listener>();
/*
* var t = typeof(RCLdotnet).Assembly.Location;
* Debug.Log("RCLdotnet location = " + t);
* var p = Path.GetDirectoryName(t);
* var sb = new StringBuilder(256);
* GetCurrentDirectoryA((uint)sb.Capacity, sb); */
try
{
//SetCurrentDirectoryA(p);
RCLRet ret = RCLdotnet.Init();
if (ret == RCLRet.Ok)
{
Debug.Log("ROS is using " + RCLdotnet.GetRMWIdentifier());
}
else
{
Debug.Log("RCL InitE = " + RCLdotnet.GetErrorString());
}
_instance.node = RCLdotnet.CreateNode("listener");
}
catch (Exception e)
{
Destroy(_instance.gameObject);
_instance = null;
Debug.Log(e.ToString());
}
//SetCurrentDirectoryA(sb.ToString());
DontDestroyOnLoad(_instance);
return(_instance);
}
/// <summary>
/// Called only by the instance singleton getter when the instance has not yet been initialized.
/// </summary>
/// <returns>The instance of this singleton class</returns>
private static ROS2Listener Init()
{
// attempt to find an instance already in the scene
var instance = FindObjectOfType <ROS2Listener>();
if (instance != null)
{
Debug.LogWarning("ROS2 Listender is already in the scene");
return(instance);
}
Debug.Log("ROS is Awake");
GameObject obj = new GameObject("ROS2Listener");
instance = obj.AddComponent <ROS2Listener>();
try
{
RCLRet ret = RCLdotnet.Init();
if (ret == RCLRet.Ok)
{
Debug.Log("ROS is using " + RCLdotnet.GetRMWIdentifier());
}
else
{
Debug.Log("RCL Init Error = " + RCLdotnet.GetErrorString());
}
instance.node = RCLdotnet.CreateNode("listener");
}
catch (Exception e)
{
Destroy(instance.gameObject);
instance = null;
Debug.Log(e.ToString());
}
DontDestroyOnLoad(instance);
return(instance);
}
