add fire render

Assets/Scenes/main.unity

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Assets/Scripts/CampfireRenderer.cs

@@ -0,0 +1,71 @@
+using UnityEngine;
+using Unity.Robotics.Core;
+using RosMessageTypes.Geometry;
+using Unity.Robotics.ROSTCPConnector;
+using System.Collections.Generic;
+
+using RosMessageTypes.GenLocationsOnMesh;
+
+public class CampfireRenderer : MonoBehaviour
+{
+    public GameObject objectCollector, objectToSpawn;
+    public string topic_name = "/campfire_status";
+
+    protected string _namespace;
+    public bool useNamespace = true;
+
+    ROSConnection ros;
+
+    private Dictionary<int, GameObject> campfire;
+    private GameObject newSpawnedObject;
+
+    private void Awake()
+    {
+        if (useNamespace)
+        {
+            _namespace = "/" + gameObject.name;
+            topic_name = topic_name[0] == '/' ? _namespace + topic_name : _namespace + "/" + topic_name;
+        }
+    }
+
+    // Start is called once before the first execution of Update after the MonoBehaviour is created
+    void Start()
+    {
+        ros = ROSConnection.GetOrCreateInstance();
+        ros.Subscribe<LocationsOnMeshMsg>(topic_name, CampfireHandler);
+
+        campfire = new Dictionary<int, GameObject>();
+    }
+
+    void CampfireHandler(LocationsOnMeshMsg capmfireInfo)
+    {
+        for (int id = 0; id < capmfireInfo.location_id.Length; id++)
+        {
+            Vector3 pose = new Vector3(
+                (float)capmfireInfo.x[id],
+                (float)capmfireInfo.y[id],
+                (float)capmfireInfo.z[id]);
+            if(campfire.TryGetValue(id, out GameObject go))
+            {
+                go.transform.position = pose;
+                go.SetActive(true);
+            } else
+            {
+                SpawnCampfire(id, pose);
+            }
+        }
+
+        for (int id = capmfireInfo.location_id.Length; id < campfire.Count; id++)
+        {
+            campfire[id].SetActive(false);
+        }
+    }
+
+    void SpawnCampfire(int id, Vector3 pos)
+    {
+        newSpawnedObject = Instantiate(objectToSpawn, pos, transform.rotation);
+        newSpawnedObject.name = "Campfire_" + id;
+        newSpawnedObject.transform.SetParent(objectCollector.transform);
+        campfire.Add(id, newSpawnedObject);
+    }
+}

Assets/Scripts/CampfireRenderer.cs.meta

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