Specifing Reference Components for each Publisher and Subscriber (#113)

* Changing OdometrySubscriber to have a public Transform instead of a public GameObject; updating demo scene * Changing LaserScanPublisher to have a public LaserScanReader instead of a public GameObject * Adding public Transform to PoseStampedSubscriber,TwistSubscriber and TwistPublisher * Cleanup and Formatting
siemens · Sep 5, 2018 · 9725f10 · 9725f10
1 parent b71fef4
commit 9725f10
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Showing 13 changed files with 60 additions and 57 deletions.
diff --git a/Unity3D/Assets/RosSharp/Scenes/GazeboSimulationScene.unity b/Unity3D/Assets/RosSharp/Scenes/GazeboSimulationScene.unity
@@ -13843,6 +13843,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 5f9b8f32224ca04498ffd0a2e2bc0567, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+  timeout: 10
   Protocol: 1
   RosBridgeServerUrl: ws://192.168.56.102:9090
 --- !u!4 &2016988257
@@ -13871,7 +13872,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   Topic: /odom
   TimeStep: 0
-  assignedObject: {fileID: 1740361386}
+  PublishedTransform: {fileID: 1740361389}
 --- !u!114 &2016988259
 MonoBehaviour:
   m_ObjectHideFlags: 0

diff --git a/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/ImagePublisher.cs b/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/ImagePublisher.cs
@@ -16,16 +16,14 @@ limitations under the License.
 // Adjustments to new Publication Timing and Execution Framework 
 // © Siemens AG, 2018, Dr. Martin Bischoff ([email protected])
 
-using System.Collections;
 using UnityEngine;
 
 namespace RosSharp.RosBridgeClient
 {
-
     public class ImagePublisher : Publisher<Messages.Sensor.CompressedImage>
     {
-        public string FrameId = "Camera";
         public Camera ImageCamera;
+        public string FrameId = "Camera";
         public int resolutionWidth = 640;
         public int resolutionHeight = 480;
         [Range(0, 100)]
@@ -35,9 +33,6 @@ public class ImagePublisher : Publisher<Messages.Sensor.CompressedImage>
         private Texture2D texture2D;
         private Rect rect;
 
-        private float lastCommunicationTime;
-        public float MinTime;
-
         protected override void Start()
         {
             base.Start();

diff --git a/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/ImageSubscriber.cs b/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/ImageSubscriber.cs
@@ -20,12 +20,11 @@ namespace RosSharp.RosBridgeClient
     [RequireComponent(typeof(RosConnector))]
     public class ImageSubscriber : Subscriber<Messages.Sensor.CompressedImage>
     {
-        private byte[] imageData;
-        private bool isMessageReceived;
-
         public MeshRenderer meshRenderer;
-        private Texture2D texture2D;
 
+        private Texture2D texture2D;
+        private byte[] imageData;
+        private bool isMessageReceived;
 
         protected override void Start()
         {
@@ -52,6 +51,7 @@ private void ProcessMessage()
             meshRenderer.material.SetTexture("_MainTex", texture2D);
             isMessageReceived = false;
         }
+
     }
 }
 
diff --git a/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/JointStatePublisher.cs b/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/JointStatePublisher.cs
@@ -17,11 +17,11 @@ namespace RosSharp.RosBridgeClient
 {
     public class JointStatePublisher : Publisher<Messages.Sensor.JointState>
     {
-        private Messages.Sensor.JointState message;        
-        public string FrameId = "Unity";
-
         public JointStateReader[] JointStateReaders;
+        public string FrameId = "Unity";
 
+        private Messages.Sensor.JointState message;    
+
         protected override void Start()
         {
             base.Start();
@@ -45,6 +45,7 @@ private void InitializeMessage()
                 effort = new float[jointStateLength]
             };
         }
+
         private void UpdateMessage()
         {
             message.header.Update();

diff --git a/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/JoyPublisher.cs b/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/JoyPublisher.cs
@@ -17,12 +17,13 @@ namespace RosSharp.RosBridgeClient
 {
     public class JoyPublisher : Publisher<Messages.Sensor.Joy>
     {
-        private Messages.Sensor.Joy message;
-        public string FrameId = "Unity";
-
         private JoyAxisReader[] JoyAxisReaders;
         private JoyButtonReader[] JoyButtonReaders;
 
+        public string FrameId = "Unity";
+
+        private Messages.Sensor.Joy message;
+
         protected override void Start()
         {
             base.Start();

diff --git a/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/LaserScanPublisher.cs b/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/LaserScanPublisher.cs
@@ -19,15 +19,13 @@ namespace RosSharp.RosBridgeClient
 {
     public class LaserScanPublisher : Publisher<Messages.Sensor.LaserScan>
     {
-        private Messages.Sensor.LaserScan message;
-        private LaserScanReader laserScanReader;
-        private float previousScanTime = 0;
-
-
+        public LaserScanReader laserScanReader;
         public string FrameId = "Unity";
-        public GameObject LaserScannerObject;
 
+        private Messages.Sensor.LaserScan message;
         private float scanPeriod;
+        private float previousScanTime = 0;
+
         protected override void Start()
         {
             base.Start();
@@ -41,12 +39,10 @@ private void FixedUpdate()
                 UpdateMessage();
                 previousScanTime = Time.realtimeSinceStartup;
             }
-
         }
 
         private void InitializeMessage()
         {
-            laserScanReader = LaserScannerObject.GetComponent<LaserScanReader>();
             scanPeriod = (float)laserScanReader.samples / (float)laserScanReader.update_rate;
 
             message = new Messages.Sensor.LaserScan

diff --git a/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/LaserScanSubscriber.cs b/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/LaserScanSubscriber.cs
@@ -13,9 +13,6 @@ You may obtain a copy of the License at
 limitations under the License.
 */
 
-using UnityEngine;
-using System;
-
 namespace RosSharp.RosBridgeClient
 {
     public class LaserScanSubscriber : Subscriber<Messages.Sensor.LaserScan>
@@ -31,6 +28,5 @@ protected override void ReceiveMessage(Messages.Sensor.LaserScan laserScan)
         {
             laserScanWriter.Write(laserScan);
         }
-
     }
 }
diff --git a/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/OdometrySubscriber.cs b/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/OdometrySubscriber.cs
@@ -19,10 +19,11 @@ namespace RosSharp.RosBridgeClient
 {
     public class OdometrySubscriber : Subscriber<Messages.Navigation.Odometry>
     {
+        public Transform PublishedTransform;
+
         private Vector3 position;
         private Quaternion rotation;
         private bool isMessageReceived;
-        public GameObject assignedObject;
 
         protected override void Start()
 		{
@@ -43,8 +44,8 @@ protected override void ReceiveMessage(Messages.Navigation.Odometry message)
         }
         private void ProcessMessage()
         {
-            assignedObject.transform.position = position;
-            assignedObject.transform.rotation = rotation;
+            PublishedTransform.position = position;
+            PublishedTransform.rotation = rotation;
         }
 
         private Vector3 GetPosition(Messages.Navigation.Odometry message)

diff --git a/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/PoseStampedPublisher.cs b/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/PoseStampedPublisher.cs
@@ -19,9 +19,10 @@ namespace RosSharp.RosBridgeClient
 {
     public class PoseStampedPublisher : Publisher<Messages.Geometry.PoseStamped>
     {
-        private Messages.Geometry.PoseStamped message;
-        public string FrameId = "Unity";
         public Transform PublishedTransform;
+        public string FrameId = "Unity";
+
+        private Messages.Geometry.PoseStamped message;
 
         protected override void Start()
         {
@@ -31,14 +32,18 @@ protected override void Start()
 
         private void FixedUpdate()
         {
-                UpdateMessage();
+            UpdateMessage();
         }
 
         private void InitializeMessage()
         {
-            message = new Messages.Geometry.PoseStamped();
-            message.header = new Messages.Standard.Header();
-            message.header.frame_id = FrameId;
+            message = new Messages.Geometry.PoseStamped
+            {
+                header = new Messages.Standard.Header()
+                {
+                    frame_id = FrameId
+                }
+            };
         }
 
         private void UpdateMessage()
@@ -68,5 +73,6 @@ private Messages.Geometry.Quaternion GetGeometryQuaternion(Quaternion quaternion
             geometryQuaternion.w = quaternion.w;
             return geometryQuaternion;
         }
+
     }
 }
diff --git a/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/PoseStampedSubscriber.cs b/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/PoseStampedSubscriber.cs
@@ -19,11 +19,13 @@ namespace RosSharp.RosBridgeClient
 {
     public class PoseStampedSubscriber : Subscriber<Messages.Geometry.PoseStamped>
     {
+        public Transform PublishedTransform;
+
         private Vector3 position;
         private Quaternion rotation;
         private bool isMessageReceived;
 
-		protected override void Start()
+        protected override void Start()
         {
 			base.Start();
 		}
@@ -43,8 +45,8 @@ protected override void ReceiveMessage(Messages.Geometry.PoseStamped message)
 
         private void ProcessMessage()
         {
-            transform.position = position;
-            transform.rotation = rotation;
+            PublishedTransform.position = position;
+            PublishedTransform.rotation = rotation;
         }
 
         private Vector3 GetPosition(Messages.Geometry.PoseStamped message)

diff --git a/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/RosConnector.cs b/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/RosConnector.cs
@@ -72,5 +72,6 @@ private void OnClosed(object sender, EventArgs e)
         {
             Debug.Log("Disconnected from RosBridge: " + RosBridgeServerUrl);
         }
+
     }
 }
diff --git a/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/TwistPublisher.cs b/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/TwistPublisher.cs
@@ -19,8 +19,9 @@ namespace RosSharp.RosBridgeClient
 {
     public class TwistPublisher : Publisher<Messages.Geometry.Twist>
     {
-        private Messages.Geometry.Twist message;
+        public Transform PublishedTransform;
 
+        private Messages.Geometry.Twist message;
         private float previousRealTime;        
         private Vector3 previousPosition = Vector3.zero;
         private Quaternion previousRotation = Quaternion.identity;
@@ -46,15 +47,15 @@ private void UpdateMessage()
         {
             float deltaTime = Time.realtimeSinceStartup - previousRealTime;
 
-            Vector3 linearVelocity = (transform.position - previousPosition)/deltaTime;
-            Vector3 angularVelocity = (transform.rotation.eulerAngles - previousRotation.eulerAngles)/deltaTime;
+            Vector3 linearVelocity = (PublishedTransform.position - previousPosition)/deltaTime;
+            Vector3 angularVelocity = (PublishedTransform.rotation.eulerAngles - previousRotation.eulerAngles)/deltaTime;
 
             message.linear = GetGeometryVector3(linearVelocity.Unity2Ros()); ;
             message.angular = GetGeometryVector3(- angularVelocity.Unity2Ros());
 
             previousRealTime = Time.realtimeSinceStartup;
-            previousPosition = transform.position;
-            previousRotation = transform.rotation;
+            previousPosition = PublishedTransform.position;
+            previousRotation = PublishedTransform.rotation;
 
             Publish(message);
         }

diff --git a/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/TwistSubscriber.cs b/Unity3D/Assets/RosSharp/Scripts/RosCommuncation/TwistSubscriber.cs
@@ -22,15 +22,17 @@ namespace RosSharp.RosBridgeClient
 {
     public class TwistSubscriber : Subscriber<Messages.Geometry.Twist>
     {
+        public Transform SubscribedTransform;
+
         private float previousRealTime;
         private Vector3 linearVelocity;
         private Vector3 angularVelocity;
         private bool isMessageReceived;
 
-		protected override void Start()
-		{
-			base.Start();
-		}
+        protected override void Start()
+        {
+            base.Start();
+        }
 
         protected override void ReceiveMessage(Messages.Geometry.Twist message)
         {
@@ -41,7 +43,7 @@ protected override void ReceiveMessage(Messages.Geometry.Twist message)
 
         private static Vector3 ToVector3(Messages.Geometry.Vector3 geometryVector3)
         {
-            return new Vector3(geometryVector3.x,geometryVector3.y,geometryVector3.z);
+            return new Vector3(geometryVector3.x, geometryVector3.y, geometryVector3.z);
         }
 
         private void Update()
@@ -51,16 +53,16 @@ private void Update()
         }
         private void ProcessMessage()
         {
-            float deltaTime = Time.realtimeSinceStartup-previousRealTime;
+            float deltaTime = Time.realtimeSinceStartup - previousRealTime;
 
-            transform.Translate(linearVelocity * deltaTime);
-            transform.Rotate(Vector3.forward, angularVelocity.x * deltaTime);
-            transform.Rotate(Vector3.up, angularVelocity.y * deltaTime);
-            transform.Rotate(Vector3.left, angularVelocity.z * deltaTime);
+            SubscribedTransform.Translate(linearVelocity * deltaTime);
+            SubscribedTransform.Rotate(Vector3.forward, angularVelocity.x * deltaTime);
+            SubscribedTransform.Rotate(Vector3.up, angularVelocity.y * deltaTime);
+            SubscribedTransform.Rotate(Vector3.left, angularVelocity.z * deltaTime);
 
             previousRealTime = Time.realtimeSinceStartup;
 
             isMessageReceived = false;
-        }     
+        }
     }
 }
-Original file line number
+Diff line change
@@ Expand Up / @@ -72,5 +72,6 @@ private void OnClosed(object sender, EventArgs e) @@
             {
                 Debug.Log("Disconnected from RosBridge: " + RosBridgeServerUrl);
             }
         }
     }