private void Update()
{
if (isMessageReceived)
{
Debug.Log("marker revcieved");
Vector3 markerMapCoords = GetPosition(marker.pose).Ros2Unity();
Debug.Log(markerMapCoords);;
Vector3 unityCoords = positionManager.convertMapCoordinatesToUnityCoordinates(markerMapCoords);
Debug.Log("converted");
GeometryPoint location = new GeometryPoint();
location.x = unityCoords.x;
location.y = unityCoords.y;
location.z = unityCoords.z;
Debug.Log(location.x + ", " + location.y + ", " + location.z);
marker.pose.position = location;
if (beaconVisualizers != null)
{
foreach (BeaconVisualizer beaconVisualizer in beaconVisualizers)
{
beaconVisualizer.addMarker(marker);
}
}
isMessageReceived = false;
}
}
private GeometryPoint GetGeometryPoint(Vector3 position)
{
GeometryPoint geometryPoint = new GeometryPoint();
geometryPoint.x = position.x;
geometryPoint.y = position.y;
geometryPoint.z = position.z;
return(geometryPoint);
}
public GeometryPose()
{
position = new GeometryPoint();
orientation = new GeometryQuaternion();
}