public void AutoLoadFromROS()
{
Debug.Log("AutoLoadFromROS");
// Devices
RosConnection rosConnection = rosGameObject.GetComponent <RosConnection>();
string[] DeviceNames = rosConnection.GetDeviceNames();
RosTransformManager rosTransformManager = rosGameObject.GetComponent <RosTransformManager>();
foreach (string name in DeviceNames)
{
GameObject newDevice = CreateGameObject.DeviceWithPointCloud("Hokuyo3D", name);
rosTransformManager.RequestGetParams(newDevice.name);
}
// Bounding Boxes
CreateGameObject.BoudingBoxes("Human BoundingBoxes", "/tracked_humans", false);
// Point Cloud
Color red = new Color(0.0f, 1.0f, 0.0f, 0.7f);
GameObject front = CreateGameObject.PointCloud2("Front Point Cloud", "/front", false, true, red);
// SubscribePointCloud2 subscribe_front = front.GetComponent<SubscribePointCloud2>();
// subscribe_front.Enabled = true;
Color blue = new Color(0.1f, 0.2f, 1.0f, 0.5f);
GameObject background = CreateGameObject.PointCloud2("Background Point Cloud", "/background", false, true, blue);
// SubscribePointCloud2 subscribe_background = background.GetComponent<SubscribePointCloud2>();
// subscribe_background.Enabled = true;
CreateGameObject.PointCloud2("Raw Point Cloud", "/point_cloud2", false);
}
public void SetTransformToROS()
{
IWindowManager wm = IOC.Resolve <IWindowManager>();
wm.Confirmation($"Set Position/Rotation of {this.Component.gameObject.name} to ROS?", "This overrides current values of position and rotation in ROS.",
(sender, args) =>
{
}, (sender, args) =>
{
GameObject rosGameObject = GameObject.Find("ROS");
RosTransformManager rosTransformManager = rosGameObject.GetComponent <RosTransformManager>();
rosTransformManager.RequestSetParams(this.Component.gameObject.name);
},
"CANCEL", "OVERRIDE");
}