public static void sendUpdateMessage(string strMessage)
{
StandardString message = new StandardString();
message.data = strMessage;
rosSocket.Publish(updateID, message);
}
public void PublishPlan()
{
MoveitTarget.left_arm = UpdateMessageContents(LeftTargetModel);
MoveitTarget.right_arm = UpdateMessageContents(RightTargetModel);
Debug.Log("Sending plan request");
rosSocket.Publish(planPublicationId, MoveitTarget);
}
protected void PublishStatus()
{
ActionStatus = new Messages.Actionlib.GoalStatus() { status = (int)ActionState };
rosSocket.Publish(StatusPublicationId,
new Messages.Actionlib.GoalStatusArray { status_list = new Messages.Actionlib.GoalStatus[] { ActionStatus } });
}
protected void PublishStatus()
{
socket.Publish(statusPublicationId,
new GoalStatusArray
{
status_list = new GoalStatus[]
{
new GoalStatus {
status = (byte)actionStatus
}
}
}
);
}
public void Update()
{
if (velSub.actionReceived == true)
{
Vector3 screenPoint = cam.WorldToViewportPoint(ball.transform.position);
bool onScreen = screenPoint.z > 0 && screenPoint.x > 0 && screenPoint.x < 1 && screenPoint.y > 0 && screenPoint.y < 1;
float currentDistance = Vector3.Distance(ball.transform.position, turtle.transform.position);
if (onScreen == true && (prevDistance > (currentDistance + 0.01)))
{
gameObject.GetComponent <RewardSender>().SendReward(-0.1f);
}
else if (onScreen == true && (prevDistance < (currentDistance - 0.01)))
{
gameObject.GetComponent <RewardSender>().SendReward(-0.2f);
}
else
{
gameObject.GetComponent <RewardSender>().SendReward(-0.4f);
}
prevDistance = currentDistance;
velSub.actionReceived = false;
time = Time.time;
}
UpdateFeed();
rosSocket.Publish(pub_id, img);
}
public void ThreadProc()
{
while (true)
{
rosSocket.Publish(publicationId, message);
Thread.Sleep(10);
}
}
public void Publish(Texture2D texture2D)
{
// Build up the message and publish
message.header.frame_id = frameId;
message.header.seq = sequenceId;
message.format = "jpeg";
message.data = texture2D.EncodeToJPG(qualityLevel);
rosSocket.Publish(publicationId, message);
++sequenceId;
}
// Use this for initialization
void Start()
{
displayMessages = new Dictionary <string, float>();
red = new Color(1f, 0f, 0f, 0.5f);
blue = new Color(0f, 0f, 1f, 0.5f);
offRed = new Color(1f, 0f, 0.3f, 0.5f);
offBlue = new Color(0.3f, 0f, 1f, 0.5f);
print("Starting ROSBRIDGE and ROSSHARP!");
rosSocket = GetComponent <RosConnector>().RosSocket;
rosSocket.Subscribe(agent_topic, "gameworld_simulation/Agent", agentSubscriber, UpdateTime);
rosSocket.Subscribe(construction_task_topic, "gameworld_simulation/ConstructionTask", constuctionTaskSubscriber, UpdateTime);
rosSocket.Subscribe(transport_task_topic, "gameworld_simulation/TransportTask", transportationTaskSubscriber, UpdateTime);
rosSocket.Subscribe(ros_update_message_topic, "std_msgs/String", updateMessageSubscriber, UpdateTime);
updateID = rosSocket.Advertise(game_update_topic, "std_msgs/String");
inputID = rosSocket.Advertise(user_input_topic, "std_msgs/String");
message.data = "start";
rosSocket.Publish(updateID, message);
lineMaterial = Resources.Load("Material/tile_ceilingPanel_fx", typeof(Material)) as Material;
}
public void Publish(Vector3 vector3)
{
// Build up the message and publish
//message.header.frame_id = frameId;
//message.header.seq = sequenceId;
//é da capire in quale ordine va passato xyz
/*
* message.x = 1;
* message.y = 0; // z in ROS
* message.z = 0 ; //x in ROS
*/
message.x = -vector3.y;
message.y = vector3.z;
message.z = vector3.x;
Debug.Log(message);
rosSocket.Publish(publicationId, message);
//++sequenceId;
}
protected void Publish(object sender, MessageEventArgs e)
{
MessageProvider.MessageRealease -= Publish;
rosSocket.Publish(publicationId, e.Message);
}
public void PublishMove()
{
Debug.Log("Sending execute message");
rosSocket.Publish(executePublicationId, new StandardString());
}
public void SendGoal()
{
rosSocket.Publish(GoalPublicationId, GetGoal());
}
public void SendGoal()
{
socket.Publish(goalPublicationID, action.action_goal);
}
public void PublishPlan(MoveitTarget moveitTarget)
{
rosSocket.Publish(planPublicationId, moveitTarget);
}
public void SendReward(float r)
{
msg.data = r.ToString();
rosSocket.Publish(pub_id, msg);
}
