void Awake() { simpleCarController = this.GetComponent <SimpleCarController>(); imagePublisher = this.GetComponent <ImagePublisher>(); laserScanPublisher = this.GetComponent <LaserScanPublisher>(); iMUPublisher = this.GetComponent <IMUPublisher>(); velocityPublisher = this.GetComponent <VelocityPublisher>(); gPSPublisher = this.GetComponent <GPSPublisher>(); motorsSubscriber = this.GetComponent <IGVCMotorsSubscriber>(); simpleCarController.useController = !RobotOptions.GetValue(robotName + "Autonomous").Equals("True"); //rosConnector.RosBridgeServerUrl = "ws://" + RobotOptions.GetValue(robotName + "ROS Bridge IP"); if (RobotOptions.Exists(robotName + "Camera Topic")) { imagePublisher.Topic = RobotOptions.GetValue(robotName + "Camera Topic"); } if (RobotOptions.Exists(robotName + "Show Camera View") && RobotOptions.GetValue(robotName + "Show Camera View").Equals("True")) { robotCamera.targetDisplay = 0; robotCamera.enabled = true; mainCamera.enabled = false; // If we are publishing the camera, we need to duplicate it because the publishing script // will override the camera output. if (RobotOptions.GetValue(robotName + "Publish Camera").Equals("True")) { GameObject robotCameraDupe = Instantiate(robotCamera.gameObject, robotCamera.gameObject.transform.parent); } } if (RobotOptions.GetValue(robotName + "Publish Camera").Equals("True")) { imagePublisher.enabled = true; robotCamera.enabled = true; } laserScanPublisher.Topic = RobotOptions.GetValue(robotName + "Laser Scan Topic"); iMUPublisher.Topic = RobotOptions.GetValue(robotName + "IMU Topic"); velocityPublisher.Topic = RobotOptions.GetValue(robotName + "Velocity Topic"); gPSPublisher.Topic = RobotOptions.GetValue(robotName + "GPS Topic"); motorsSubscriber.Topic = RobotOptions.GetValue(robotName + "Motors Topic"); }
public override void set_reference(Transform o) { reference = o; ls_pub = o.GetComponent <RosSharp.RosBridgeClient.LaserScanPublisher>(); ls_reader = o.GetComponent <RosSharp.RosBridgeClient.LaserScanReader>(); }