private void Initialise()
{
ros = new ROSBridgeWebSocketConnection("ws://192.168.255.40", 9090, "Test");
_genericPub = new ROSGenericPublisher(ros, "/raspicam_node/camera_info", CameraInfoMsg.GetMessageType());
_genericSub = new ROSGenericSubscriber <CameraInfoMsg>(ros, "/raspicam_node/camera_info", CameraInfoMsg.GetMessageType(), msg => new CameraInfoMsg(msg));
_genericSub.OnDataReceived += OnDataReceived;
ros.Connect();
ros.Render();
StartCoroutine(WaitForRunning());
}
public override void Initialise(ROSBridgeWebSocketConnection rosBridge)
{
_texture2D = new Texture2D(_resolutionWidth, _resolutionHeight, TextureFormat.RGB24, false);
_rect = new Rect(0, 0, _resolutionWidth, _resolutionHeight);
_renderTexture = new RenderTexture(_resolutionWidth, _resolutionHeight, 24);
_cameraInfoPublisher = new ROSGenericPublisher(rosBridge, "/raspicam_node/camera_info", CameraInfoMsg.GetMessageType());
_cameraSensorPublisher = new ROSCameraSensorPublisher(rosBridge, "/raspicam_node/image/compressed");
base.Initialise(rosBridge);
}
