/// <summary>
/// Compares the current devices in the scene with the urdf file and performs adjustments
/// </summary>
/// <param name="urdf"></param>
public void SynchUrdf(string urdf)
{
ReportSynch();
Robot robot = Robot.FromContent(urdf);
foreach (var c in robot.attachedComponents)
{
if (c.component is AttachedDataValue av && String.IsNullOrEmpty(av.topic))
{
av.topic = "/img/joint_position";
}
}
if (!hasUrdfAssetsImported)
{
ImportInitialUrdfModel(robot);
return;
}
//we do not return here since we want to apply any possible changes that were passed in the last urdf update.
RobotBuilder builder = new RobotBuilder();
builder.Synchronize(robot, RobotRootObject);
synchronizationCounterWithoutFullRegeneration++;
}
/// <summary>
/// Imports the URDF Model initially to download all textures, assets and store them correctly etc.
/// </summary>
/// <param name="robot"></param>
private void ImportInitialUrdfModel(Robot robot)
{
hasUrdfAssetsImported = false;
if (RobotRootObject == null)
{
RobotRootObject = GameObject.Instantiate(RobotPrefab);
RobotRootObject.name = RobotName;
}
RobotBuilder builder = new RobotBuilder();
builder.Synchronize(robot, RobotRootObject);
if (!useUnityPhysics)
{
foreach (Rigidbody rb in RobotRootObject.GetComponentsInChildren <Rigidbody>())
{
rb.isKinematic = true;
}
}
//Attach a joint state subscriber that subscribes all joints to the state published by Gazebo or another source
RosConnector.gameObject.AddComponentIfNotExists <JointStateSubscriber>(out var jointStateSubscriber);
jointStateSubscriber.Topic = @"/joint_states";
jointStateSubscriber.JointStateWriters = new List <JointStateWriter>();
jointStateSubscriber.JointNames = new List <string>();
foreach (UrdfJoint urdfJoint in RobotRootObject.GetComponentsInChildren <UrdfJoint>())
{
if (urdfJoint.JointType != UrdfJoint.JointTypes.Fixed)
{
urdfJoint.gameObject.AddComponentIfNotExists <JointStateWriter>(out var writer);
jointStateSubscriber.JointStateWriters.Add(writer);
jointStateSubscriber.JointNames.Add(urdfJoint.JointName);
}
}
if (SceneContainerGameObject != null)
{
RobotRootObject.transform.SetParent(SceneContainerGameObject.transform);
}
hasUrdfAssetsImported = true;
}