// Initilize the sensor
public void InitilizeSensor(int uniqueID, string sensorURL, int sensorPort, List <string> sensorSubscribers)
{
Debug.Log("Init LAMP Connection at " + sensorURL + ":" + sensorPort.ToString());
ros = new ROSBridgeWebSocketConnection(sensorURL, sensorPort);
client_id = uniqueID.ToString();
foreach (string subscriber in sensorSubscribers)
{
string subscriberTopic = "";
switch (subscriber)
{
case "surface_pointcloud":
subscriberTopic = "/voxblox_node/" + subscriber;
break;
default:
subscriberTopic = "/" + subscriber;
break;
}
PointCloudVisualizer pcVisualizer = gameObject.AddComponent <PointCloudVisualizer>();
pcVisualizer.SetParentTransform(this.transform);
pcVisualizers.Add(subscriberTopic, pcVisualizer);
Debug.Log(" LAMP Subscribing to : " + subscriberTopic);
sensorSubscriberTopicsDict.Add(subscriberTopic, true);
ros.AddSubscriber(subscriberTopic, this);
}
Debug.Log("Lamp Connection Established");
ros.Connect();
}
public new static void CallBack(ROSBridgeMsg msg)
{
PointCloud2Msg pointCloudMsg = (PointCloud2Msg)msg;
if (verbose)
{
StringBuilder sb = new StringBuilder();
sb.Append(pointCloudMsg.GetHeader().GetSeq());
sb.Append(":\n");
sb.AppendFormat("Size: {0} X {1} = {2}\n", pointCloudMsg.GetWidth(), pointCloudMsg.GetHeight(), pointCloudMsg.GetWidth() * pointCloudMsg.GetHeight());
sb.Append(pointCloudMsg.GetFieldString());
Debug.Log(sb.ToString());
}
PointCloudVisualizer visualizer = GameObject.Find(rendererObjectName).GetComponent <PointCloudVisualizer>();
visualizer.SetPointCloud(pointCloudMsg.GetCloud());
Debug.Log("Updated Point Cloud");
}
// Initilize the sensor
public void InitilizeSensor(int uniqueID, string sensorURL, int sensorPort, List <string> sensorSubscribers)
{
Debug.Log("Init PointCloud Connection at " + sensorURL + ":" + sensorPort.ToString());
// Figure out if we need secure or non secure websockets. OR better yet, make the sensorIP and sensorPort and the address header the same field that user enters.
ros = new ROSBridgeWebSocketConnection(sensorURL, sensorPort);
client_id = uniqueID.ToString();
foreach (string subscriber in sensorSubscribers)
{
string subscriberTopic = "";
subscriberTopic = "/voxblox_node/" + subscriber;
PointCloudVisualizer pcVisualizer = gameObject.AddComponent <PointCloudVisualizer>();
pcVisualizer.SetParentTransform(this.transform);
pcVisualizers.Add(subscriberTopic, pcVisualizer);
Debug.Log("Point Cloud subscribing to: " + subscriberTopic);
sensorSubscriberTopicsDict.Add(subscriberTopic, true);
ros.AddSubscriber(subscriberTopic, this);
}
ros.Connect();
Debug.LogWarning("Connected to Sensors");
}
