39 lines
965 B
C#
39 lines
965 B
C#
using UnityEngine;
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using Unity.Robotics.Core;
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using Unity.Robotics.ROSTCPConnector;
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using RosMessageTypes.Std;
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public class ROSCollissionDetectionPublisher : MonoBehaviour
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{
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public string topicName = "/collision_detection";
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public bool useNamespace = true;
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public BoolMsg result;
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protected string _namespace;
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ROSConnection ros;
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private void Awake()
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{
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if (useNamespace)
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{
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_namespace = "/" + gameObject.name;
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topicName = topicName[0] == '/' ? _namespace + topicName : _namespace + "/" + topicName;
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}
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}
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// Start is called once before the first execution of Update after the MonoBehaviour is created
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void Start()
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{
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ros = ROSConnection.GetOrCreateInstance();
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ros.RegisterPublisher<BoolMsg>(topicName);
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result = new BoolMsg(false);
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}
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// Update is called once per frame
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void Update()
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{
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ros.Publish(topicName, result);
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}
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}
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