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add reset robot pos and onoff lights by server

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This commit is contained in:
Leushina
2026-06-24 13:36:03 +03:00
parent 4fed70bc3d
commit 5c541b051c
9 changed files with 267 additions and 1 deletions
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Assets/Scenes/main.unity
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+112 -1
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Assets/Scripts/ROSRobotLightServer.cs
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@@ -0,0 +1,40 @@
using UnityEngine;
using Unity.Robotics.ROSTCPConnector;
using RosMessageTypes.Std;
public class ROSRobotLightServer : MonoBehaviour
{
[SerializeField] private string serviceName = "/unity/trigger_event";
[SerializeField] public RobotLightOperation[] lightList;
private string status = "OFF";
void Start()
{
// Implement the service handler inside Unity
ROSConnection.GetOrCreateInstance().ImplementService<TriggerRequest, TriggerResponse>(serviceName, HandleTriggerRequest);
}
private TriggerResponse HandleTriggerRequest(TriggerRequest request)
{
// Perform your Unity-side logic here (e.g., reset simulation state)
bool wasSuccessful = TryExecuteUnityAction();
string responseMessage = wasSuccessful ? $"Headlights switched {status} successfully" : "Failed to run Unity light switch action";
// Construct and return the response
return new TriggerResponse
{
success = wasSuccessful,
message = responseMessage
};
}
private bool TryExecuteUnityAction()
{
foreach (var item in lightList)
item.light.intensity = item.light.intensity > .0f ? .0f : item.maxInensity;
status = lightList[0].light.intensity > .0f ? "ON" : "OFF";
return true;
}
}
Assets/Scripts/ROSRobotLightServer.cs.meta
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Assets/Scripts/ROSRobotResetPosServer.cs
+35
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@@ -0,0 +1,35 @@
using UnityEngine;
using Unity.Robotics.ROSTCPConnector;
using RosMessageTypes.Std;
public class ROSRobotResetPosServer : MonoBehaviour
{
[SerializeField] private string serviceName = "/unity/trigger_event";
[SerializeField] public ResetPosition target;
void Start()
{
// Implement the service handler inside Unity
ROSConnection.GetOrCreateInstance().ImplementService<TriggerRequest, TriggerResponse>(serviceName, HandleTriggerRequest);
}
private TriggerResponse HandleTriggerRequest(TriggerRequest request)
{
// Perform your Unity-side logic here (e.g., reset simulation state)
bool wasSuccessful = TryExecuteUnityAction();
string responseMessage = wasSuccessful ? "Robot's position successfully reset" : "Failed to run Unity reset action";
// Construct and return the response
return new TriggerResponse
{
success = wasSuccessful,
message = responseMessage
};
}
private bool TryExecuteUnityAction()
{
target.startRotation = true;
return true;
}
}
Assets/Scripts/ROSRobotResetPosServer.cs.meta
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Assets/Scripts/ResetPosition.cs
+57
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@@ -0,0 +1,57 @@
using UnityEngine;
public class ResetPosition : MonoBehaviour
{
[SerializeField] private Terrain currentTerrain;
[SerializeField] private LayerMask _terrainLayer = 1 << 0;
[SerializeField] private float _groundOffset = 1.0f; // m, shift during raycast to stick robot to the ground
public bool startRotation = false;
private Vector3 targetEuler, targetPosition;
private Quaternion targetRotation;
private Vector3 terrainPosition, terrainNormal;
private float normalizedX, normalizedZ;
private Vector3 faceDirection;
private ArticulationBody body;
// draw ray and spawn object little up
// Start is called once before the first execution of Update after the MonoBehaviour is created
void Start()
{
body = GetComponent<ArticulationBody>();
}
void FixedUpdate() {
if (startRotation)
{
FixPosition();
}
}
void FixPosition()
{
terrainPosition = transform.position - currentTerrain.transform.position;
normalizedX = Mathf.InverseLerp(0, currentTerrain.terrainData.size.x, terrainPosition.x);
normalizedX = Mathf.Clamp01(normalizedX);
normalizedZ = Mathf.InverseLerp(0, currentTerrain.terrainData.size.z, terrainPosition.z);
normalizedZ = Mathf.Clamp01(normalizedZ);
terrainNormal = currentTerrain.terrainData.GetInterpolatedNormal(normalizedX, normalizedZ);
faceDirection = Vector3.Cross(terrainNormal, -transform.right);
Quaternion predictedRot = Quaternion.LookRotation(faceDirection, terrainNormal);
targetEuler = predictedRot.eulerAngles;
targetEuler.y = transform.rotation.eulerAngles.y;
targetRotation = Quaternion.Euler(targetEuler);
targetPosition = new Vector3(
transform.position.x,
transform.position.y + _groundOffset,
transform.position.z);
body.TeleportRoot(targetPosition, targetRotation);
startRotation = false;
}
}
Assets/Scripts/ResetPosition.cs.meta
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Assets/Scripts/RobotLightOperation.cs
+15
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@@ -0,0 +1,15 @@
using UnityEngine;
public class RobotLightOperation : MonoBehaviour
{
//public ROSCollissionDetectionPublisher publisher;
public float maxInensity = 1.0f;
[System.NonSerialized]
public Light light;
void Start()
{
light = GetComponent<Light>();
light.intensity = .0f;
}
}
Assets/Scripts/RobotLightOperation.cs.meta
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