private static Messages.Geometry.Vector3 GetGeometryVector3(Vector3 vector3)
{
Messages.Geometry.Vector3 geometryVector3 = new Messages.Geometry.Vector3();
geometryVector3.x = vector3.x;
geometryVector3.y = vector3.y;
geometryVector3.z = vector3.z;
return(geometryVector3);
}
private Messages.Geometry.Vector3 GetGeometryVector3(Vector3 position)
{
Messages.Geometry.Vector3 geometryVector3 = new Messages.Geometry.Vector3();
geometryVector3.x = position.x;
geometryVector3.y = position.y;
geometryVector3.z = position.z;
return(geometryVector3);
}
void Start()
{
joystickCanvas.enabled = false;
cmdPublisher = new RosSharp.RosBridgeClient.NonMono.Publisher <Twist>(ref rosConnector, "/cmd_vel");
forwardLinear = new RosSharp.RosBridgeClient.Messages.Geometry.Vector3 {
x = 0.4f, y = 0.0f, z = 0.0f
};
backwardLinear = new RosSharp.RosBridgeClient.Messages.Geometry.Vector3 {
x = -0.4f, y = 0.0f, z = 0.0f
};
stopLinear = new RosSharp.RosBridgeClient.Messages.Geometry.Vector3 {
x = 0.0f, y = 0.0f, z = 0.0f
};
counterClockwiseAngular = new RosSharp.RosBridgeClient.Messages.Geometry.Vector3 {
x = 0.0f, y = 0.0f, z = 0.5f
};
clockwiseAngular = new RosSharp.RosBridgeClient.Messages.Geometry.Vector3 {
x = 0.0f, y = 0.0f, z = -0.5f
};
stopAngular = new RosSharp.RosBridgeClient.Messages.Geometry.Vector3 {
x = 0.0f, y = 0.0f, z = 0.0f
};
}
private static Vector3 ToVector3(Messages.Geometry.Vector3 geometryVector3)
{
return(new Vector3(geometryVector3.x, geometryVector3.y, geometryVector3.z));
}
/*================*\
|* ROSToUnity *|
\*================*/
public static void Vector3ToVector3(ref UnityVector3 dataOut, RosVector3 dataIn)
{
Ros2Unity(ref dataOut, dataIn);
}
public static void Vector3ToVector3(RosVector3 dataOut, ref UnityVector3 dataIn)
{
Unity2Ros(dataOut, ref dataIn);
}
public static void Ros2Unity(ref UnityVector3 dataOut, RosVector3 dataIn)
{
dataOut.x = -dataIn.y;
dataOut.y = dataIn.z;
dataOut.z = dataIn.x;
}
public static void Unity2Ros(RosVector3 dataOut, ref UnityVector3 dataIn)
{
dataOut.x = dataIn.z;
dataOut.y = -dataIn.x;
dataOut.z = dataIn.y;
}
private static Vector3 angularVelocityToVector3(Messages.Geometry.Vector3 geometryVector3)
{
return(new Vector3(geometryVector3.z, geometryVector3.y, -geometryVector3.x));
}
private static Vector3 linearVelocityToVector3(Messages.Geometry.Vector3 geometryVector3)
{
return(new Vector3(geometryVector3.x, -geometryVector3.y, geometryVector3.z));
}