/// <summary>
/// Imports the URDF Model initially to download all textures, assets and store them correctly etc.
/// </summary>
/// <param name="robot"></param>
private void ImportInitialUrdfModel(string urdf, Robot robot)
{
hasUrdfAssetsImported = false;
var protocol = RosConnector.Protocols.WebSocketNET;
RosSharp.RosBridgeClient.TransferFromRosHandler handler = new RosSharp.RosBridgeClient.TransferFromRosHandler();
string assetPath = Path.Combine(Path.GetFullPath("."), "Assets", "Urdf", "Models", robot.name);
assetsRootDirectoryName = handler.ImportAssetsFromUrdf(protocol, this.RobotName, @"ws://*****:*****@"/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;
}
