public override void OnInspectorGUI()
{
jointStatePatcher = (JointStatePatcher)target;
DrawDefaultInspector();
if (GUILayout.Button("apply JointStateManagers"))
{
jointStatePatcher.patch();
}
Application.runInBackground = true;
}
private void TeleoperationPatcher()
{
GameObject robot = GameObject.Find(urdfImporter.robotName);
if (robot != null)
{
SpotLightPatcher.patch(robot);
KinematicPatcher.patch(robot);
OdometryPatcher.patch(robot);
JointStatePatcher.patch(robot);
var rosConnector = new GameObject("ROSConnector");
rosConnector.AddComponent <RosConnector>().RosBridgeServerUrl = address;
rosConnector.AddComponent <JointStateSubscriber>();
Application.runInBackground = true;
status["jointStatesMapped"].Set();
}
else
{
Debug.LogWarning("Joint States Patching did not work! Robot not found...");
}
}
//private UnityFibonacciActionClient UnityFibonacciActionClient;
public void Awake()
{
UrdfRobot = GetComponents <UrdfRobot>()[0];
// gameObject.AddComponent<Status2Text>();
switch (TypeOfKSMP)
{
case KSMPs.ROS:
//gameObject.AddComponent<RosConnector>();
//gameObject.AddComponent<PoseArrayPublisher>();
// If it does not exist
if (GameObject.Find("RosConnector") == null)
{
RosConnectorObj = new GameObject("RosConnector");
}
else
{
RosConnectorObj = GameObject.Find("RosConnector");
}
if (!planRobot)
{
RosConnector = RosConnectorObj.AddComponent <RosConnector>();
gameObject.AddComponent <PoseArrayPublisher>();
}
RosConnector = RosConnectorObj.GetComponent <RosConnector>();
RosConnector.RosBridgeServerUrl = NetworkMasterIP;
switch (TypeOfEntity)
{
case EntityType.manipulator:
gameObject.AddComponent <JointStatePatcher>();
JointPatcher = gameObject.GetComponent <JointStatePatcher>();
JointPatcher.UrdfRobot = UrdfRobot;
JointPatcher.SetSubscribeJointStates(true);
if (!planRobot)
{
JointStateSubscriber = gameObject.GetComponent <JointStateSubscriber>();
JointStateSubscriber.Topic = Topic;
gameObject.AddComponent <ExecuteTrajFeedbackSub>();
gameObject.AddComponent <TrajectorySub>();
}
else
{
gameObject.AddComponent <DisplayTrajectorySub>();
}
/*****************************
* Testing: uncomment JointState Subscri and delete DisplatT
* ***************************/
//gameObject.AddComponent<DisplayTrajectorySub>();
break;
case EntityType.AGV:
// To be implemented
break;
case EntityType.drone:
// To be implemented
break;
case EntityType.sensor:
// To be implemented
break;
default:
// To be implemented
break;
}
break;
case KSMPs.None:
// To be implemented
break;
default:
// To be implemented
break;
}
}
