add collision detection

2026-06-23 12:30:45 +03:00
parent 670e77f091
commit c0c2a4d197
6 changed files with 12730 additions and 89 deletions
@@ -0,0 +1,38 @@
+using UnityEngine;
+using Unity.Robotics.Core;
+using Unity.Robotics.ROSTCPConnector;
+using RosMessageTypes.Std;
+
+public class ROSCollissionDetectionPublisher : MonoBehaviour
+{
+    public string topicName = "/collision_detection";
+    public bool useNamespace = true;
+    public BoolMsg result;
+
+
+    protected string _namespace;
+
+    ROSConnection ros;
+
+    private void Awake()
+    {
+        if (useNamespace)
+        {
+            _namespace = "/" + gameObject.name;
+            topicName = topicName[0] == '/' ? _namespace + topicName : _namespace + "/" + topicName;
+        }
+    }
+    // Start is called once before the first execution of Update after the MonoBehaviour is created
+    void Start()
+    {
+        ros = ROSConnection.GetOrCreateInstance();
+        ros.RegisterPublisher<BoolMsg>(topicName);
+        result = new BoolMsg(false);
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        ros.Publish(topicName, result);
+    }
+}