void Start()
{
rosConnector = GetComponent <RosConnector>();
bodyPoseActionClient = new BodyPoseActionClient(actionName, rosConnector.RosSocket);
bodyPoseActionClient.Initialize();
}
private RosConnectorHandlerSingleton()
{
this.connector = new RosConnector();
}
protected virtual void Start(string topic, ref RosConnector connector)
{
Topic = topic;
rosConnector = connector;
publicationId = rosConnector.RosSocket.Advertise <T>(Topic);
}
//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;
}
}
private void Start()
{
rosConnector = GetComponent <RosConnector>();
fibonacciActionClient = new FibonacciActionClient(actionName, rosConnector.RosSocket);
fibonacciActionClient.Initialize();
}
