private void LoadTF()
{
var tfLog = new StringBuilder();
tfLog.AppendLine("Loaded TF Info : " + modelName);
var linkHelpers = GetComponentsInChildren <SDF.Helper.Link>();
if (GetPluginParameters().GetValues <string>("ros2/transforms/link", out var links))
{
foreach (var link in links)
{
var parentFrameId = GetPluginParameters().GetAttributeInPath <string>("ros2/transforms/link[text()='" + link + "']", "parent_frame_id", "base_link");
(var modelName, var linkName) = SDF2Unity.GetModelLinkName(link);
foreach (var linkHelper in linkHelpers)
{
if ((string.IsNullOrEmpty(modelName) || (!string.IsNullOrEmpty(modelName) && linkHelper.Model.name.Equals(modelName))) &&
linkHelper.name.Equals(linkName))
{
var tf = new TF(linkHelper, link, parentFrameId);
tfList.Add(tf);
tfLog.AppendLine(modelName + "::" + linkName + " : TF added");
break;
}
}
}
}
Debug.Log(tfLog.ToString());
}
protected override void GenerateMessage()
{
try
{
micomWritingData = GetMessageData <messages.Twist>();
}
catch
{
Debug.LogWarning("GetMessageData: ERROR");
}
// Right-handed -> Left-handed direction of rotation
linearVelocity = -SDF2Unity.GetPosition(micomWritingData.Linear.X, micomWritingData.Linear.Y, micomWritingData.Linear.Z);
angularVelocity = -SDF2Unity.GetPosition(micomWritingData.Angular.X, micomWritingData.Angular.Y, micomWritingData.Angular.Z);
}
protected void Awake()
{
isFirstChild = SDF2Unity.IsRootModel(this.gameObject);
poseControl = new PoseControl(this.transform);
Reset();
}
void Awake()
{
tag = "Model";
isTopModel = SDF2Unity.CheckTopModel(transform);
poseControl.SetTransform(transform);
}
