您最多选择25个主题 主题必须以中文或者字母或数字开头,可以包含连字符 (-),并且长度不得超过35个字符
 
 
 
 
 

45 行
1.2 KiB

using RosMessageTypes.RoboticsDemo;
using UnityEngine;
using Random = UnityEngine.Random;
/// <summary>
///
/// </summary>
public class RosPublisherExample : MonoBehaviour
{
public ROSConnection ros;
public string topicName = "pos_rot";
// The game object
public GameObject cube;
// Publish the cube's position and rotation every N seconds
public float publishMessageFrequency = 0.5f;
// Used to determine how much time has elapsed since the last message was published
private float timeElapsed;
private void Update()
{
timeElapsed += Time.deltaTime;
if (timeElapsed > publishMessageFrequency)
{
cube.transform.rotation = Random.rotation;
PosRot cubePos = new PosRot(
cube.transform.position.x,
cube.transform.position.y,
cube.transform.position.z,
cube.transform.rotation.x,
cube.transform.rotation.y,
cube.transform.rotation.z,
cube.transform.rotation.w
);
// Finally send the message to server_endpoint.py running in ROS
ros.Send(topicName, cubePos);
timeElapsed = 0;
}
}
}