void Start() { //_camera = transform.parent.parent.GetComponent<RosConnector>().RosSocket;_camera = transform.parent.parent.GetComponent<RosConnector>().RosSocket; //find the rosconnector used in the drone. it should only exist one connection (i think) toPublish = new CameraImagePublisher2(GameObject.Find("drone").GetComponent <RosConnector>().RosSocket, publishTopic, qualityLevel); //toPublishDepth = new CameraImagePublisher2(GameObject.Find("drone").GetComponent<RosConnector>().RosSocket,depthPublishTopic,qualityLevel); _camera = this.GetComponent <Camera>(); resolutionHeight = _camera.targetTexture.height; resolutionWidth = _camera.targetTexture.width; texture2D = new Texture2D(resolutionWidth, resolutionHeight, TextureFormat.RGB24, false); //depthTexture2D = new Texture2D(resolutionWidth, resolutionHeight, TextureFormat.RGB24, false); rect = new Rect(0, 0, resolutionWidth, resolutionHeight); //for depth image _camera.depthTextureMode = DepthTextureMode.Depth; }