81 lines
2.3 KiB
C#
81 lines
2.3 KiB
C#
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// Copyright 2019-2021 Robotec.ai.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System;
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using ROS2;
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using sensor_msgs.msg;
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using Unity.Collections.LowLevel.Unsafe;
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using UnityEngine;
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namespace ZC
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{
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/// <summary>
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/// An example class provided for testing of basic ROS2 communication
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/// </summary>
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public class ROS2TalkerExample : MonoBehaviour
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{
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// Start is called before the first frame update
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private ROS2UnityComponent ros2Unity;
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private ROS2Node ros2Node;
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private IPublisher<PointCloud2> chatter_pub;
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private int i;
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void Start()
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{
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ros2Unity = GetComponent<ROS2UnityComponent>();
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}
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void Update()
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{
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if (ros2Unity.Ok())
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{
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if (ros2Node == null)
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{
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ros2Node = ros2Unity.CreateNode("ROS2UnityTalkerNode");
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chatter_pub = ros2Node.CreatePublisher<PointCloud2>("chatter_PointCloud2");
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}
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i++;
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PointCloud2 msg = new PointCloud2();
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msg.Point_step = 16;
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msg.Data = new byte[150000 * msg.Point_step];
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msg.Width = 1;
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msg.Row_step = 16;
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msg.Height = (uint)(150000);
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unsafe
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{
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var ptr = UnsafeUtility.PinGCArrayAndGetDataAddress(msg.Data, out var handle);
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try
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{
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var dateTime = (long*)ptr;
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*dateTime = DateTime.Now.Ticks;
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}
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finally
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{
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UnsafeUtility.ReleaseGCObject(handle);
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}
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}
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if (Time.frameCount % 60 == 0)
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{
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chatter_pub.Publish(msg);
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Debug.Log($"[{DateTime.Now:HH:mm:ss.fff}]{Time.frameCount}");
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}
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}
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}
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}
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} // namespace ROS2
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