public new static void CallBack(ROSBridgeMsg msg)
{
GameObject model = GameObject.Find("Model");
GameObject robot = GameObject.Find("Robot");
Robot r = (Robot)model.GetComponent(typeof(Robot));
if (model == null)
{
Debug.Log("<color=red>ERROR:</color> Can't find GameObject Robot. Create it in Unity");
}
else
{
NavStsMsg nav_sts = (NavStsMsg)msg;
NEDMsg p = nav_sts.GetPosition();
RPYMsg o = nav_sts.GetOrientation();
robot.transform.position = new Vector3(-p.GetNorth(), 0, p.GetEast());
Vector3 next_position = new Vector3(-p.GetNorth(), -p.GetDepth(), p.GetEast());
Quaternion next_orientation = Quaternion.Euler(o.GetRollDegrees() + 90f, o.GetYawDegrees(), o.GetPitchDegrees());
r.AddWaypoint(next_position, next_orientation);
//model.transform.position = new Vector3(-p.GetNorth(), -p.GetDepth(), p.GetEast());
//model.transform.rotation = Quaternion.Euler(o.GetRollDegrees() + 90f, o.GetYawDegrees(), o.GetPitchDegrees());
GameObject ned_canvas = GameObject.Find("NED");
Text NED_text = ned_canvas.GetComponent <Text>();
int dp = 2;
string format = string.Format("#.{0} m;-#.{0} m", new string('#', dp));
NED_text.text = p.GetNorth().ToString(format) +
"\n" + p.GetEast().ToString(format) +
"\n" + p.GetDepth().ToString(format) +
"\n" + nav_sts.GetAltitude().GetData().ToString(format);
}
}
