void OnNewHandMsg(ROSBridgeLib.simple_unity_bot.HandState handMsg)
{
if (handMsg.name == "LeftHand")
{
leftGrasp = handMsg.grasp;
leftUse = handMsg.use;
SetButtonStates(Player.LeftHand);
}
else if (handMsg.name == "RightHand")
{
rightGrasp = handMsg.grasp;
rightUse = handMsg.use;
SetButtonStates(Player.RightHand);
}
else
{
Debug.LogWarning("Received hand state for unknown object: '" + handMsg.name + "' [" + handMsg.grasp + ", " + handMsg.use + "]");
}
}
void FixedUpdate()
{
// send new poses for target's hands & head
SimplePoseArray poses = new SimplePoseArray(new ROSBridgeLib.std_msgs.Header(42, new ROSBridgeLib.msg_helpers.Time(1, 2), "body"), null);
poses.poses = new System.Collections.Generic.List <SimplePose>
{
new SimplePose("LeftHand", target.LeftHand.transform.localPosition, target.LeftHand.transform.localRotation),
new SimplePose("RightHand", target.RightHand.transform.localPosition, target.RightHand.transform.localRotation),
new SimplePose("Head", target.Head.transform.localPosition, target.Head.transform.localRotation)
};
ros.Publish(pose_pub, poses);
// send hand input states for target
ROSBridgeLib.simple_unity_bot.HandState LeftHandMsg = new ROSBridgeLib.simple_unity_bot.HandState("LeftHand", target.LeftHand.Inputs[NVRButtonID.HoldButton].SingleAxis, target.LeftHand.Inputs[NVRButtonID.UseButton].IsPressed ? 1.0f : 0.0f);
ROSBridgeLib.simple_unity_bot.HandState RightHandMsg = new ROSBridgeLib.simple_unity_bot.HandState("RightHand", target.RightHand.Inputs[NVRButtonID.HoldButton].SingleAxis, target.RightHand.Inputs[NVRButtonID.UseButton].IsPressed ? 1.0f : 0.0f);
ros.Publish(hand_pub, LeftHandMsg);
ros.Publish(hand_pub, RightHandMsg);
ros.Render();
}
