public static void Create(string filename)
{
Robot robot = new Robot();
robot.ConstructFromFile(filename);
if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename))
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
return;
}
GameObject robotGameObject = new GameObject(robot.name);
robotGameObject.AddComponent <UrdfRobot>();
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename));
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfPlugins.Create(robotGameObject.transform, robot.plugins);
UrdfLinkExtensions.Create(robotGameObject.transform, robot.root);
GameObjectUtility.SetParentAndAlign(robotGameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(robotGameObject, "Create " + robotGameObject.name);
Selection.activeObject = robotGameObject;
}
public static IEnumerator Create(string filename, ImportSettings settings, bool loadStatus = false)
{
CreateTag();
importsettings = settings;
Robot robot = new Robot(filename);
settings.totalLinks = robot.links.Count;
if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename))
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
yield break;
}
GameObject robotGameObject = new GameObject(robot.name);
robotGameObject.tag = tagName;
robotGameObject.AddComponent <UrdfRobot>();
robotGameObject.AddComponent <RosSharp.Control.Controller>();
robotGameObject.GetComponent <UrdfRobot>().SetAxis(settings.choosenAxis);
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename));
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfPlugins.Create(robotGameObject.transform, robot.plugins);
Stack <Tuple <Link, Transform, Joint> > importStack = new Stack <Tuple <Link, Transform, Joint> >();
importStack.Push(new Tuple <Link, Transform, Joint>(robot.root, robotGameObject.transform, null));
while (importStack.Count != 0)
{
Tuple <Link, Transform, Joint> currentLink = importStack.Pop();
GameObject importedLink = UrdfLinkExtensions.Create(currentLink.Item2, currentLink.Item1, currentLink.Item3);
settings.linksLoaded++;
foreach (Joint childJoint in currentLink.Item1.joints)
{
Link child = childJoint.ChildLink;
importStack.Push(new Tuple <Link, Transform, Joint>(child, importedLink.transform, childJoint));
}
if (loadStatus)
{
yield return(null);
}
}
GameObjectUtility.SetParentAndAlign(robotGameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(robotGameObject, "Create " + robotGameObject.name);
Selection.activeObject = robotGameObject;
CorrectAxis(robotGameObject);
CreateCollisionExceptions(robot, robotGameObject);
}
public static void Create(Transform parent, Link.Visual visual)
{
GameObject visualObject = new GameObject(visual.name ?? "unnamed");
visualObject.transform.SetParentAndAlign(parent);
UrdfVisual urdfVisual = visualObject.AddComponent <UrdfVisual>();
urdfVisual.GeometryType = UrdfGeometry.GetGeometryType(visual.geometry);
UrdfGeometryVisual.Create(visualObject.transform, urdfVisual.GeometryType, visual.geometry);
UrdfMaterial.SetUrdfMaterial(visualObject, visual.material);
UrdfOrigin.ImportOriginData(visualObject.transform, visual.origin);
}
public static Link.Visual ExportVisualData(this UrdfVisual urdfVisual)
{
UrdfGeometry.CheckForUrdfCompatibility(urdfVisual.transform, urdfVisual.geometryType);
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfVisual.geometryType, urdfVisual.transform);
Link.Visual.Material material = null;
if ((geometry.mesh != null))
{
material = UrdfMaterial.ExportMaterialData(urdfVisual.GetComponentInChildren <MeshRenderer>().sharedMaterial);
}
string visualName = urdfVisual.name == "unnamed" ? null : urdfVisual.name;
return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(urdfVisual.transform), material));
}
public static Link.Visual ExportVisualData(this UrdfVisual urdfVisual)
{
UrdfGeometry.CheckForUrdfCompatibility(urdfVisual.transform, urdfVisual.GeometryType);
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfVisual.GeometryType, urdfVisual.transform);
Link.Visual.Material material = null;
if (!(geometry.mesh != null && geometry.mesh.filename.ToLower().EndsWith(".dae"))) //Collada files contain their own materials
{
material = UrdfMaterial.ExportMaterialData(urdfVisual.GetComponentInChildren <MeshRenderer>().sharedMaterial);
}
string visualName = urdfVisual.name == "unnamed" ? null : urdfVisual.name;
return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(urdfVisual.transform), material));
}
public static void Create(Transform parent, Link.Visual visual)
{
if (String.IsNullOrEmpty(visual.name))
{
visual.name = visual.GenerateNonReferenceID();
}
if (parent.FindChildOrCreateWithComponent <UrdfVisual>(visual.name, out GameObject visualObject, out UrdfVisual urdfVisual))
{
//only create these visuals if the gameobject had to be created itself
urdfVisual.GeometryType = UrdfGeometry.GetGeometryType(visual.geometry);
UrdfGeometryVisual.Create(visualObject.transform, urdfVisual.GeometryType, visual.geometry);
}
//update these values every time
UrdfMaterial.SetUrdfMaterial(visualObject, visual.material);
UrdfOrigin.ImportOriginData(visualObject.transform, visual.origin);
}
private static void Create(Robot robot)
{
GameObject robotGameObject = new GameObject(robot.name);
robotGameObject.AddComponent <JointStatePublisher>();
robotGameObject.AddComponent <JointCommandsSubscription>();
robotGameObject.AddComponent <UnityInputTeleop>();
robotGameObject.AddComponent <TwistBaseController>();
robotGameObject.AddComponent <OdometryPublisher>();
robotGameObject.AddComponent <DiffDriveWheelSpinner>().enabled = false;
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfSimulationLinkExtensions.Create(robotGameObject.transform, robot.root);
GameObjectUtility.SetParentAndAlign(robotGameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(robotGameObject, "Create " + robotGameObject.name);
Selection.activeObject = robotGameObject;
}
private static void Create(Robot robot)
{
GameObject rosVisualizerGameObject = new GameObject("RosVisualizer");
rosVisualizerGameObject.AddComponent <TfSubscriber>();
GameObject mapFrame = new GameObject("map");
GameObjectUtility.SetParentAndAlign(mapFrame, rosVisualizerGameObject);
mapFrame.AddComponent <TfFrame>();
GameObject odomFrame = new GameObject("odom");
GameObjectUtility.SetParentAndAlign(odomFrame, mapFrame);
odomFrame.AddComponent <TfFrame>();
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfVisualizedLinkExtensions.Create(odomFrame.transform, robot.root);
}
public static void Create(string filename, ImportSettings settings)
{
CreateTag();
importsettings = settings;
Robot robot = new Robot(filename);
if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename))
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
return;
}
GameObject robotGameObject = new GameObject(robot.name);
robotGameObject.tag = tagName;
robotGameObject.AddComponent <UrdfRobot>();
robotGameObject.AddComponent <RosSharp.Control.Controller>();
robotGameObject.GetComponent <UrdfRobot>().SetAxis(settings.choosenAxis);
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename));
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfPlugins.Create(robotGameObject.transform, robot.plugins);
UrdfLinkExtensions.Create(robotGameObject.transform, robot.root);
GameObjectUtility.SetParentAndAlign(robotGameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(robotGameObject, "Create " + robotGameObject.name);
Selection.activeObject = robotGameObject;
CorrectAxis(robotGameObject);
CreateCollisionExceptions(robot, robotGameObject);
}
