void Start()
{
rosSocket = GameObject.Find("drone").GetComponent <RosConnector>().RosSocket;
droneBody = GameObject.Find("drone").GetComponent <Rigidbody>();
publication_id = rosSocket.Advertize(publishTopic, "sensor_msgs/PointCloud2");
laser = new rayCaster(maxLeftAngle, maxRightAngle, maxTopAngle, maxBottomAngle, verticalIncrement, horizontalIncrement, maxDistance, this, 1 << 8);
pcl.createPclCloud(0, 0, true);
pc = new SensorPointCloud2();
}
// Use this for initialization
void Start()
{
pcl.createPclCloud(0, 0, true);
pcl.pushPointToCloud(new Vector3(1, 2, 3));
pcl.convertToCloud2();
SensorPointCloud2 pc = new SensorPointCloud2();
pcl.convertToRosCloud(ref pc, "ok");
Debug.Log("data: " + pc.data[0] + " " + pc.data[1] + " " + pc.data[2] + " " + pc.data[3] + " " + pc.data[4]);
//byte[] data= new byte[0];
//pcl.testByteArray222(ref data);
//Debug.Log("data: "+data[0]+" "+data[1] + " " + data[2] + " " + data[3] + " " + data[4]);
}
/// <summary>
/// work in progress
/// </summary>
/// <param name="pcl"></param>
/// <param name="laser"></param>
/// <param name="drawRay"></param>
/// <param name="rosCloud"></param>
/// <returns></returns>
public bool runCasterSequentialRep2(ref SensorPointCloud2 rosCloud, laserSensor laser, bool drawRay)
{
if (stackDone)//restart
{
currentAngle = topA;
stackDone = false;
}
pclInterface pcl = new pclInterface();
pcl.createPclCloud(0, 0, true);
int cicles = 0;
while (cicles < repetitions)
{
if (currentAngle >= bottomA)
{
float currentHoriAngle = leftA;
while (currentHoriAngle < rightA)
{
getPointFromRay(currentHoriAngle, currentAngle, maxDist, ref pcl, laser, drawRay);
currentHoriAngle += horiInc;
}
currentAngle -= horiInc;
}
else
{
stackDone = true;
if (rosCloud.data.Length > 0)
{
return(true);
}
}
cicles++;
}
return(false);
}
