public override void OnInspectorGUI()
{
jointStateSubscriber = (JointStateSubscriber)target;
DrawDefaultInspector();
if (GUILayout.Button(jointStateSubscriberButtonLabel))
{
jointStateSubscriber.Start();
}
Application.runInBackground = true;
}
public void NewRobotSelected(GameObject robot)
{
//Debug.Log("new Robot Selected: " + robot.name);
if (robot.GetComponent <RosConnector>() == null)
{
Debug.Log("Error: No rosConnector found");
return;
}
robotManager = robot;
rosConnector = robotManager.GetComponent <RosConnector>();
jointStatePublisher = robotManager.GetComponent <JointStatePublisher>();
jointStateSubscriber = robotManager.GetComponent <JointStateSubscriber>();
poseStampedPublisher = robotManager.GetComponent <CustomPoseStampedPublisher>();
rosMode = dropdownRobotManager.robotConfigs[dropdownRobotManager.robotDropdown.value].rosMode;
poseMode = dropdownRobotManager.robotConfigs[dropdownRobotManager.robotDropdown.value].poseMode;
rosModeDropdown.value = rosMode;
poseStampDropdown.value = poseMode;
intervalSlider.value = dropdownRobotManager.robotConfigs[dropdownRobotManager.robotDropdown.value].poseInterval;
}
public void NewRobotSelected(GameObject robot)
{
if (robot.GetComponent <RosConnector>() == null)
{
Debug.Log("Error: No rosConnector found");
return;
}
robotManager = robot;
rosConnector = robotManager.GetComponent <RosConnector>();
jointStatePublisher = robotManager.GetComponent <JointStatePublisher>();
jointStateSubscriber = robotManager.GetComponent <JointStateSubscriber>();
poseStampedPublisher = robotManager.GetComponent <CustomPoseStampedPublisher>();
rosMode = dropdownRobotManager.robotConfigs[dropdownRobotManager.currentRobot].rosMode;
poseMode = dropdownRobotManager.robotConfigs[dropdownRobotManager.currentRobot].poseMode;
rosModeDropdown.value = rosMode;
poseStampDropdown.value = poseMode;
//intervalSlider.value = dropdownRobotManager.robotConfigs[dropdownRobotManager.currentRobot].poseInterval; //Activate for non-MRTK applications
intervalSlider.SliderValue = dropdownRobotManager.robotConfigs[dropdownRobotManager.currentRobot].poseInterval;
}
public override void OnInspectorGUI()
{
EditorGUILayout.HelpBox("This is the central point of your incoming robot communication. " +
"Enter the details of your mqtt broker, the topic to subscribe to and specify the robotParent object. " +
"Either presss play and see if your robotcontrollers are in the correct order, press on 'Find Joints and configure' or manually specificy the order.", MessageType.Info);
DrawDefaultInspector();
if (buttonStyle == null)
{
buttonStyle = new GUIStyle(EditorStyles.miniButtonRight)
{
fixedWidth = 75
}
}
;
jointStateSubscriber = (JointStateSubscriber)target;
if (GUILayout.Button("Find joints in robot and configure"))
{
jointStateSubscriber.FindJoints();
}
}
}
//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;
}
}
