public static void CallBack(ROSBridgeMsg msg)
{
EnvironmentMsg poseMsg = (EnvironmentMsg)msg;
if (poseMsg.id_.Contains("hoop"))
{
char numID = poseMsg.id_[poseMsg.id_.Length - 1];
//Debug.Log("Got a tf message: " + poseMsg.id_[poseMsg.id_.Length - 1]);
GameObject currentHoop = null;
if (!WorldProperties.hoopsDict.ContainsKey(numID))
{
GameObject world = GameObject.FindWithTag("World");
currentHoop = Object.Instantiate(world.GetComponent <WorldProperties>().torus);
currentHoop.transform.parent = world.transform;
WorldProperties.hoopsDict[numID] = currentHoop;
Debug.Log("Made hoop with id: " + numID);
}
else
{
currentHoop = WorldProperties.hoopsDict[numID];
}
currentHoop.transform.localPosition = WorldProperties.RosSpaceToWorldSpace(poseMsg.x_, poseMsg.y_, poseMsg.z_) +
WorldProperties.torusModelOffset;
currentHoop.transform.localRotation = new Quaternion(poseMsg.x_rot_ + 1, poseMsg.y_rot_, poseMsg.z_rot_, poseMsg.w_rot_);
}
}
public new static void CallBack(ROSBridgeMsg msg)
{
//Debug.Log("Drone Position Callback");
GameObject robot = GameObject.FindWithTag("Drone");
if (robot != null)
{
DronePositionMsg pose = (DronePositionMsg)msg;
robot.transform.localPosition = WorldProperties.RosSpaceToWorldSpace(pose._x, pose._y, pose._z) +
WorldProperties.droneModelOffset;
Vector3 tablePos = GameObject.FindWithTag("Table").transform.position;
robot.transform.localPosition = new Vector3(-pose._x, pose._z + tablePos.z + 0.148f, -pose._y);
SaveData();
}
else
{
Debug.Log("The RosDroneSubscriber script can't find the robot.");
}
}
public static void CallBack(ROSBridgeMsg msg)
{
EnvironmentMsg poseMsg = (EnvironmentMsg)msg;
if (poseMsg.id_.Contains("hoop"))
{
char numID = poseMsg.id_[poseMsg.id_.Length - 1];
//Debug.Log("Got a tf message: " + poseMsg.id_[poseMsg.id_.Length - 1]);
GameObject currentHoop = null;
if (!WorldProperties.hoopsDict.ContainsKey(numID))
{
GameObject world = GameObject.FindWithTag("World");
currentHoop = Object.Instantiate(world.GetComponent <WorldProperties>().torus);
currentHoop.transform.parent = world.transform;
WorldProperties.hoopsDict[numID] = currentHoop;
Debug.Log("Made hoop with id: " + numID);
}
else
{
Debug.Log("im in the else");
Debug.Log(numID);
/*
* GameObject newCanvas = (GameObject)Object.Instantiate(Resources.Load("TextCanv"));
* Debug.Log("line1");
* //Getting TextMesh component
* TextMesh tempText = newCanvas.GetComponent<TextMesh>();
* Debug.Log("line2");
*
* Debug.Log("ADD TEXT PLS");
* //Setting the Name
* if (numID == 1)
* {
* tempText.text = "Hoop A";
* numberThing += 1;
* }
* else if (numID == 2)
* {
* tempText.text = "Hoop B";
* numberThing += 1;
* }
* else
* {
* tempText.text = "Hoop C";
* }
*/
currentHoop = WorldProperties.hoopsDict[numID];
// newCanvas.transform.parent = currentHoop.transform;
}
currentHoop.transform.localPosition = WorldProperties.RosSpaceToWorldSpace(poseMsg.x_, poseMsg.y_, poseMsg.z_) +
WorldProperties.torusModelOffset;
currentHoop.transform.localScale = new Vector3(2.7f, 2.7f, 2.7f);
currentHoop.transform.localRotation = new Quaternion(poseMsg.x_rot_ + 1, poseMsg.y_rot_, poseMsg.z_rot_, poseMsg.w_rot_);
}
}