// Update is called once per frame in Unity. The Unity camera follows the robot (which is driven by
// the ROS environment. We also use the joystick or cursor keys to generate teleoperational commands
// that are sent to the ROS world, which drives the robot which ...
void Update()
{
float _dx, _dy;
int _button = 0;
if (_useJoysticks)
{
_dx = Input.GetAxis("Joy0X");
_dy = Input.GetAxis("Joy0Y");
}
else
{
_dx = Input.GetAxis("Horizontal");
_dy = Input.GetAxis("Vertical");
Debug.Log("no joysticks " + _dx + " " + _dy);
}
float linear = _dy * 0.5f;
float angular = -_dx * 0.2f;
TwistMsg msg = new TwistMsg(new Vector3Msg(linear, 0.0, 0.0), new Vector3Msg(0.0, 0.0, angular));
ros.Publish(Turtle1Teleop.GetMessageTopic(), msg);
if (Input.GetKeyDown(KeyCode.T))
{
if (lineOn)
{
ros.CallService("/turtle1/set_pen", "{\"off\": 1}");
}
else
{
ros.CallService("/turtle1/set_pen", "{\"off\": 0}");
}
lineOn = !lineOn;
}
ros.Render();
}
public void Send_message()
{
float _dx = 0.1f, _dy = 0.2f;
float linear = _dy * 0.5f;
float angular = -_dx * 0.2f;
TwistMsg msg = new TwistMsg(new Vector3Msg(linear, 10, 10), new Vector3Msg(-10, 40, angular));
ros.Publish(Turtle1Teleop.GetMessageTopic(), msg);
Debug.Log("Message sent to ROS");
if (Input.GetKeyDown(KeyCode.T))
{
if (lineOn)
{
ros.CallService("/turtle1/set_pen", "{\"off\": 1}");
}
else
{
ros.CallService("/turtle1/set_pen", "{\"off\": 0}");
}
lineOn = !lineOn;
}
ros.Render();
}