// Update is called once per frame in Unity
void Update()
{
if (!started && Input.GetButtonDown("Start"))
{
ConnectionStatus.text = "Connected";
started = true;
ros = new ROSBridgeWebSocketConnection("ws://localhost", 8080);
ros.AddPublisher(typeof(CommandPublisher));
ros.AddPublisher(typeof(VelocityPublisher));
// Fire up the subscriber(s) and publisher(s)
ros.Connect();
}
ControlCommand command_msg = GetControlCommand();
Debug.Log("Sending: " + command_msg.ToYAMLString());
ControlVelocity velocity_msg = new ControlVelocity(GetPitch(), GetRoll(), GetThrottle(), GetYaw());
Debug.Log("Sending: " + velocity_msg.ToYAMLString());
// Publish it (ros is the object defined in the first class)
ros.Publish(CommandPublisher.GetMessageTopic(), command_msg);
ros.Publish(VelocityPublisher.GetMessageTopic(), velocity_msg);
ros.Render();
}
void Awake()
{
simpleCarController = this.GetComponent <SimpleCarController>();
imagePublisher = this.GetComponent <ImagePublisher>();
laserScanPublisher = this.GetComponent <LaserScanPublisher>();
iMUPublisher = this.GetComponent <IMUPublisher>();
velocityPublisher = this.GetComponent <VelocityPublisher>();
gPSPublisher = this.GetComponent <GPSPublisher>();
motorsSubscriber = this.GetComponent <IGVCMotorsSubscriber>();
simpleCarController.useController = !RobotOptions.GetValue(robotName + "Autonomous").Equals("True");
//rosConnector.RosBridgeServerUrl = "ws://" + RobotOptions.GetValue(robotName + "ROS Bridge IP");
if (RobotOptions.Exists(robotName + "Camera Topic"))
{
imagePublisher.Topic = RobotOptions.GetValue(robotName + "Camera Topic");
}
if (RobotOptions.Exists(robotName + "Show Camera View") && RobotOptions.GetValue(robotName + "Show Camera View").Equals("True"))
{
robotCamera.targetDisplay = 0;
robotCamera.enabled = true;
mainCamera.enabled = false;
// If we are publishing the camera, we need to duplicate it because the publishing script
// will override the camera output.
if (RobotOptions.GetValue(robotName + "Publish Camera").Equals("True"))
{
GameObject robotCameraDupe = Instantiate(robotCamera.gameObject, robotCamera.gameObject.transform.parent);
}
}
if (RobotOptions.GetValue(robotName + "Publish Camera").Equals("True"))
{
imagePublisher.enabled = true;
robotCamera.enabled = true;
}
laserScanPublisher.Topic = RobotOptions.GetValue(robotName + "Laser Scan Topic");
iMUPublisher.Topic = RobotOptions.GetValue(robotName + "IMU Topic");
velocityPublisher.Topic = RobotOptions.GetValue(robotName + "Velocity Topic");
gPSPublisher.Topic = RobotOptions.GetValue(robotName + "GPS Topic");
motorsSubscriber.Topic = RobotOptions.GetValue(robotName + "Motors Topic");
}
