void Start()
{
// Get the live websocket client
wsc = GameObject.Find("WebsocketClient").GetComponent <WebsocketClient>();
// Get the live TFListener
TFListener = GameObject.Find("TFListener").GetComponent <TFListener>();
// Create publisher to the Baxter's arm topic (uses Ein)
wsc.Advertise("ein/" + arm + "/forth_commands", "std_msgs/String");
// Asychrononously call sendControls every .1 seconds
InvokeRepeating("SendControls", .1f, .1f);
if (arm == "left")
{
grip_label = "Left Grip";
trigger_label = "Left Trigger";
}
else if (arm == "right")
{
grip_label = "Right Grip";
trigger_label = "Right Trigger";
}
else
{
Debug.LogError("arm variable is not set correctly");
}
}
// Use this for initialization
void Start()
{
GameObject wso = GameObject.FindWithTag("WebsocketTag");
wsc = wso.GetComponent <WebsocketClient>();
wsc.Advertise("ein/" + arm + "/forth_commands", "std_msgs/String");
TFListener = GameObject.Find("TFListener").GetComponent <TFListener>();
tf = GetComponent <Transform>();
//last positions/rotation of the controller (calculate relative displacement of controller at each update)
lastControllerPosition = tf.position;
lastControllerRotation = tf.rotation;
Invoke("FindArm", 1f); //update position of lastArm position and rotation
InvokeRepeating("sendMessage", 1.2f, .1f); //send message to move arm by displacement of current controller position/rotation with previous position/rotation
targetTransform = targetModel.GetComponent <Transform>();
if (arm == "left")
{
grip_label = "Left Grip";
trigger_label = "Left Trigger";
}
if (arm == "right")
{
grip_label = "Right Grip";
trigger_label = "Right Trigger";
}
else
{
Debug.LogError("arm variable is not set correctly");
}
}
// Use this for initialization
void Start()
{
GameObject wso = GameObject.FindWithTag("WebsocketTag");
wsc = wso.GetComponent <WebsocketClient> ();
//while (!wsc.IsConnected ()) {
//}
wsc.Advertise("ein/" + arm + "/forth_commands", "std_msgs/String");
InvokeRepeating("sendControls", .1f, .1f);
controller = this.GetComponent <VRTK.VRTK_ControllerEvents>();
TFListener = GameObject.Find("TFListener").GetComponent <TFListener> ();
}
void Start()
{
// Get the live websocket client
wsc = GameObject.Find("WebsocketClient").GetComponent <WebsocketClient>();
// Get the live TFListener
TFListener = GameObject.Find("TFListener").GetComponent <TFListener>();
// Get the controller componenet of this gameobject
controller = GetComponent <VRTK.VRTK_ControllerEvents>();
// Create publisher to the Baxter's arm topic (uses Ein)
wsc.Advertise("ein/" + arm + "/forth_commands", "std_msgs/String");
// Asychrononously call sendControls every .1 seconds
InvokeRepeating("SendControls", .1f, .1f);
}
// Use this for initialization
void Start()
{
GameObject wso = GameObject.FindWithTag("WebsocketTag");
wsc = wso.GetComponent <WebsocketClient>();
wsc.Advertise("ein/" + arm + "/forth_commands", "std_msgs/String");
controller = GetComponent <VRTK.VRTK_ControllerEvents>();
TFListener = GameObject.Find("TFListener").GetComponent <TFListener>();
tf = GetComponent <Transform>();
//last positions/rotation of the controller (calculate relative displacement of controller at each update)
lastControllerPosition = tf.position;
lastControllerRotation = tf.rotation;
Invoke("FindArm", 1f); //update position of lastArm position and rotation
InvokeRepeating("sendMessage", 1.2f, .1f); //send message to move arm by displacement of current controller position/rotation with previous position/rotation
targetTransform = targetModel.GetComponent <Transform>();
}