├── .gitignore ├── Assets ├── CAD Elements.meta ├── Materials.meta ├── Materials │ ├── Carpet.mat │ ├── Carpet.mat.meta │ ├── New Material 1.mat │ ├── New Material 1.mat.meta │ ├── New Material.mat │ ├── New Material.mat.meta │ ├── Yellow.mat │ ├── Yellow.mat.meta │ ├── blue.mat │ ├── blue.mat.meta │ ├── dark_grey.mat │ ├── dark_grey.mat.meta │ ├── glass.mat │ ├── glass.mat.meta │ ├── green tape.mat │ ├── green tape.mat.meta │ ├── grey.mat │ ├── grey.mat.meta │ ├── metal_one.mat │ ├── metal_one.mat.meta │ ├── red.mat │ └── red.mat.meta ├── RosSharp.meta ├── RosSharp │ ├── Plugins.meta │ ├── Plugins │ │ ├── External.meta │ │ ├── External │ │ │ ├── Newtonsoft.Json.Bson.dll │ │ │ ├── Newtonsoft.Json.Bson.dll.meta │ │ │ ├── Newtonsoft.Json.Bson.xml │ │ │ ├── Newtonsoft.Json.Bson.xml.meta │ │ │ ├── Newtonsoft.Json.dll │ │ │ ├── Newtonsoft.Json.dll.meta │ │ │ ├── Newtonsoft.Json.xml │ │ │ ├── Newtonsoft.Json.xml.meta │ │ │ ├── websocket-sharp.dll │ │ │ ├── websocket-sharp.dll.meta │ │ │ ├── websocket-sharp.xml │ │ │ └── websocket-sharp.xml.meta │ │ ├── MessageGeneration.dll │ │ ├── MessageGeneration.dll.meta │ │ ├── Microsoft.meta │ │ ├── Microsoft │ │ │ ├── Microsoft.Bcl.AsyncInterfaces.dll │ │ │ ├── Microsoft.Bcl.AsyncInterfaces.dll.meta │ │ │ ├── System.Buffers.dll │ │ │ ├── System.Buffers.dll.meta │ │ │ ├── System.Memory.dll │ │ │ ├── System.Memory.dll.meta │ │ │ ├── System.Runtime.CompilerServices.Unsafe.dll │ │ │ ├── System.Runtime.CompilerServices.Unsafe.dll.meta │ │ │ ├── System.Text.Encodings.Web.dll │ │ │ ├── System.Text.Encodings.Web.dll.meta │ │ │ ├── System.Text.Json.dll │ │ │ ├── System.Text.Json.dll.meta │ │ │ ├── System.Threading.Channels.dll │ │ │ ├── System.Threading.Channels.dll.meta │ │ │ ├── System.Threading.Tasks.Extensions.dll │ │ │ └── System.Threading.Tasks.Extensions.dll.meta │ │ ├── RosBridgeClient.dll │ │ ├── RosBridgeClient.dll.meta │ │ ├── Urdf.dll │ │ └── Urdf.dll.meta │ ├── README.pdf │ ├── README.pdf.meta │ ├── Scenes.meta │ ├── Scenes │ │ ├── FibonacciActionScene.unity │ │ ├── FibonacciActionScene.unity.meta │ │ ├── GazeboSimulationScene.unity │ │ └── GazeboSimulationScene.unity.meta │ ├── Scripts.meta │ └── Scripts │ │ ├── Extensions.meta │ │ ├── Extensions │ │ ├── HeaderExtensions.cs │ │ ├── HeaderExtensions.cs.meta │ │ ├── TransformExtensions.cs │ │ └── TransformExtensions.cs.meta │ │ ├── RosBridgeClient.meta │ │ ├── RosBridgeClient │ │ ├── Editor.meta │ │ ├── Editor │ │ │ ├── FibonacciAction.meta │ │ │ ├── FibonacciAction │ │ │ │ ├── FibonacciActionClientEditor.cs │ │ │ │ └── FibonacciActionClientEditor.cs.meta │ │ │ ├── JointStatePatcherEditor.cs │ │ │ ├── JointStatePatcherEditor.cs.meta │ │ │ ├── MessageGeneration.meta │ │ │ ├── MessageGeneration │ │ │ │ ├── DirectoryActionAutoGenEditorWindow.cs │ │ │ │ ├── DirectoryActionAutoGenEditorWindow.cs.meta │ │ │ │ ├── DirectoryAutoGenEditorWindow.cs │ │ │ │ ├── DirectoryAutoGenEditorWindow.cs.meta │ │ │ │ ├── DirectoryMsgAutoGenEditorWindow.cs │ │ │ │ ├── DirectoryMsgAutoGenEditorWindow.cs.meta │ │ │ │ ├── DirectorySrvAutoGenEditorWindow.cs │ │ │ │ ├── DirectorySrvAutoGenEditorWindow.cs.meta │ │ │ │ ├── PackageActionAutoGenEditorWindow.cs │ │ │ │ ├── PackageActionAutoGenEditorWindow.cs.meta │ │ │ │ ├── PackageAutoGenEditorWindow.cs │ │ │ │ ├── PackageAutoGenEditorWindow.cs.meta │ │ │ │ ├── PackageMsgAutoGenEditorWindow.cs │ │ │ │ ├── PackageMsgAutoGenEditorWindow.cs.meta │ │ │ │ ├── PackageSrvAutoGenEditorWindow.cs │ │ │ │ ├── PackageSrvAutoGenEditorWindow.cs.meta │ │ │ │ ├── SingleActionAutoGenEditorWindow.cs │ │ │ │ ├── SingleActionAutoGenEditorWindow.cs.meta │ │ │ │ ├── SingleAutoGenEditorWindow.cs │ │ │ │ ├── SingleAutoGenEditorWindow.cs.meta │ │ │ │ ├── SingleMsgAutoGenEditorWindow.cs │ │ │ │ ├── SingleMsgAutoGenEditorWindow.cs.meta │ │ │ │ ├── SingleSrvAutoGenEditorWindow.cs │ │ │ │ └── SingleSrvAutoGenEditorWindow.cs.meta │ │ │ ├── UrdfTransfer.meta │ │ │ └── UrdfTransfer │ │ │ │ ├── TransferFromRosEditorWindow.cs │ │ │ │ ├── TransferFromRosEditorWindow.cs.meta │ │ │ │ ├── TransferFromRosHandler.cs │ │ │ │ ├── TransferFromRosHandler.cs.meta │ │ │ │ ├── TransferToRosEditorWindow.cs │ │ │ │ ├── TransferToRosEditorWindow.cs.meta │ │ │ │ ├── TransferToRosHandler.cs │ │ │ │ └── TransferToRosHandler.cs.meta │ │ ├── MessageHandling.meta │ │ ├── MessageHandling │ │ │ ├── JointStatePatcher.cs │ │ │ ├── JointStatePatcher.cs.meta │ │ │ ├── JointStateReader.cs │ │ │ ├── JointStateReader.cs.meta │ │ │ ├── JointStateWriter.cs │ │ │ ├── JointStateWriter.cs.meta │ │ │ ├── JoyAxisInputPasser.cs │ │ │ ├── JoyAxisInputPasser.cs.meta │ │ │ ├── JoyAxisJointMotorWriter.cs │ │ │ ├── JoyAxisJointMotorWriter.cs.meta │ │ │ ├── JoyAxisJointTransformWriter.cs │ │ │ ├── JoyAxisJointTransformWriter.cs.meta │ │ │ ├── JoyAxisReader.cs │ │ │ ├── JoyAxisReader.cs.meta │ │ │ ├── JoyAxisWriter.cs │ │ │ ├── JoyAxisWriter.cs.meta │ │ │ ├── JoyButtonReader.cs │ │ │ ├── JoyButtonReader.cs.meta │ │ │ ├── JoyButtonWriter.cs │ │ │ ├── JoyButtonWriter.cs.meta │ │ │ ├── LaserScanReader.cs │ │ │ ├── LaserScanReader.cs.meta │ │ │ ├── LaserScanWriter.cs │ │ │ └── LaserScanWriter.cs.meta │ │ ├── RosCommuncation.meta │ │ ├── RosCommuncation │ │ │ ├── GetParamServiceProvider.cs │ │ │ ├── GetParamServiceProvider.cs.meta │ │ │ ├── ImagePublisher.cs │ │ │ ├── ImagePublisher.cs.meta │ │ │ ├── ImageSubscriber.cs │ │ │ ├── ImageSubscriber.cs.meta │ │ │ ├── JointStatePublisher.cs │ │ │ ├── JointStatePublisher.cs.meta │ │ │ ├── JointStateSubscriber.cs │ │ │ ├── JointStateSubscriber.cs.meta │ │ │ ├── JoyPublisher.cs │ │ │ ├── JoyPublisher.cs.meta │ │ │ ├── JoySubscriber.cs │ │ │ ├── JoySubscriber.cs.meta │ │ │ ├── LaserScanPublisher.cs │ │ │ ├── LaserScanPublisher.cs.meta │ │ │ ├── LaserScanSubscriber.cs │ │ │ ├── LaserScanSubscriber.cs.meta │ │ │ ├── OdometryPublisher.cs │ │ │ ├── OdometryPublisher.cs.meta │ │ │ ├── OdometrySubscriber.cs │ │ │ ├── OdometrySubscriber.cs.meta │ │ │ ├── PoseStampedPublisher.cs │ │ │ ├── PoseStampedPublisher.cs.meta │ │ │ ├── PoseStampedSubscriber.cs │ │ │ ├── PoseStampedSubscriber.cs.meta │ │ │ ├── RosConnector.cs │ │ │ ├── RosConnector.cs.meta │ │ │ ├── TwistPublisher.cs │ │ │ ├── TwistPublisher.cs.meta │ │ │ ├── TwistSubscriber.cs │ │ │ ├── TwistSubscriber.cs.meta │ │ │ ├── UnityFibonacciActionClient.cs │ │ │ ├── UnityFibonacciActionClient.cs.meta │ │ │ ├── UnityFibonacciActionSever.cs │ │ │ ├── UnityFibonacciActionSever.cs.meta │ │ │ ├── UnityPublisher.cs │ │ │ ├── UnityPublisher.cs.meta │ │ │ ├── UnityServiceProvider.cs │ │ │ ├── UnityServiceProvider.cs.meta │ │ │ ├── UnitySubscriber.cs │ │ │ └── UnitySubscriber.cs.meta │ │ ├── SensorDataVisualization.meta │ │ ├── SensorDataVisualization │ │ │ ├── LaserScanVisualizer.cs │ │ │ ├── LaserScanVisualizer.cs.meta │ │ │ ├── LaserScanVisualizerLines.cs │ │ │ ├── LaserScanVisualizerLines.cs.meta │ │ │ ├── LaserScanVisualizerMesh.cs │ │ │ ├── LaserScanVisualizerMesh.cs.meta │ │ │ ├── LaserScanVisualizerSpheres.cs │ │ │ └── LaserScanVisualizerSpheres.cs.meta │ │ ├── Timing.meta │ │ └── Timing │ │ │ ├── Timer.cs │ │ │ └── Timer.cs.meta │ │ ├── Urdf.meta │ │ └── Urdf │ │ ├── Editor.meta │ │ ├── Editor │ │ ├── AssetHandlers.meta │ │ ├── AssetHandlers │ │ │ ├── LocateAssetHandler.cs │ │ │ ├── LocateAssetHandler.cs.meta │ │ │ ├── UrdfAssetPathHandler.cs │ │ │ ├── UrdfAssetPathHandler.cs.meta │ │ │ ├── UrdfExportPathHandler.cs │ │ │ ├── UrdfExportPathHandler.cs.meta │ │ │ ├── UrdfMeshExportHandler.cs │ │ │ └── UrdfMeshExportHandler.cs.meta │ │ ├── CustomEditors.meta │ │ ├── CustomEditors │ │ │ ├── HingeJointLimitsManagerEditor.cs │ │ │ ├── HingeJointLimitsManagerEditor.cs.meta │ │ │ ├── RigidbodyEditor.cs │ │ │ ├── RigidbodyEditor.cs.meta │ │ │ ├── UrdfCollisionEditor.cs │ │ │ ├── UrdfCollisionEditor.cs.meta │ │ │ ├── UrdfCollisionsEditor.cs │ │ │ ├── UrdfCollisionsEditor.cs.meta │ │ │ ├── UrdfInertialEditor.cs │ │ │ ├── UrdfInertialEditor.cs.meta │ │ │ ├── UrdfJointEditor.cs │ │ │ ├── UrdfJointEditor.cs.meta │ │ │ ├── UrdfLinkEditor.cs │ │ │ ├── UrdfLinkEditor.cs.meta │ │ │ ├── UrdfPluginsEditor.cs │ │ │ ├── UrdfPluginsEditor.cs.meta │ │ │ ├── UrdfRobotEditor.cs │ │ │ ├── UrdfRobotEditor.cs.meta │ │ │ ├── UrdfVisualEditor.cs │ │ │ ├── UrdfVisualEditor.cs.meta │ │ │ ├── UrdfVisualsEditor.cs │ │ │ └── UrdfVisualsEditor.cs.meta │ │ ├── MenuItems.meta │ │ ├── MenuItems │ │ │ ├── UrdfExportEditorWindow.cs │ │ │ ├── UrdfExportEditorWindow.cs.meta │ │ │ ├── UrdfImporterContextMenuItem.cs │ │ │ ├── UrdfImporterContextMenuItem.cs.meta │ │ │ ├── UrdfImporterMenuItem.cs │ │ │ ├── UrdfImporterMenuItem.cs.meta │ │ │ ├── UrdfRobotCreatorMenuItem.cs │ │ │ └── UrdfRobotCreatorMenuItem.cs.meta │ │ ├── MeshProcessing.meta │ │ ├── MeshProcessing │ │ │ ├── ColladaAssetPostProcessor.cs │ │ │ ├── ColladaAssetPostProcessor.cs.meta │ │ │ ├── StlAssetPostProcessor.cs │ │ │ ├── StlAssetPostProcessor.cs.meta │ │ │ ├── StlExporter.cs │ │ │ ├── StlExporter.cs.meta │ │ │ ├── StlImporter.cs │ │ │ ├── StlImporter.cs.meta │ │ │ ├── StlReader.cs │ │ │ ├── StlReader.cs.meta │ │ │ ├── StlWriter.cs │ │ │ └── StlWriter.cs.meta │ │ ├── UrdfComponents.meta │ │ └── UrdfComponents │ │ │ ├── UrdfCollisionExtensions.cs │ │ │ ├── UrdfCollisionExtensions.cs.meta │ │ │ ├── UrdfCollisionsExtensions.cs │ │ │ ├── UrdfCollisionsExtensions.cs.meta │ │ │ ├── UrdfGeometry.cs │ │ │ ├── UrdfGeometry.cs.meta │ │ │ ├── UrdfGeometryCollision.cs │ │ │ ├── UrdfGeometryCollision.cs.meta │ │ │ ├── UrdfGeometryVisual.cs │ │ │ ├── UrdfGeometryVisual.cs.meta │ │ │ ├── UrdfLinkExtensions.cs │ │ │ ├── UrdfLinkExtensions.cs.meta │ │ │ ├── UrdfMaterial.cs │ │ │ ├── UrdfMaterial.cs.meta │ │ │ ├── UrdfRobotExtensions.cs │ │ │ ├── UrdfRobotExtensions.cs.meta │ │ │ ├── UrdfVisualExtensions.cs │ │ │ ├── UrdfVisualExtensions.cs.meta │ │ │ ├── UrdfVisualsExtensions.cs │ │ │ └── UrdfVisualsExtensions.cs.meta │ │ ├── JointLimitsManagers.meta │ │ ├── JointLimitsManagers │ │ ├── HingeJointLimitsManager.cs │ │ ├── HingeJointLimitsManager.cs.meta │ │ ├── PrismaticJointLimitsManager.cs │ │ └── PrismaticJointLimitsManager.cs.meta │ │ ├── Math.meta │ │ ├── Math │ │ ├── Matrix3x3.cs │ │ └── Matrix3x3.cs.meta │ │ ├── UrdfComponents.meta │ │ └── UrdfComponents │ │ ├── UrdfCollision.cs │ │ ├── UrdfCollision.cs.meta │ │ ├── UrdfCollisions.cs │ │ ├── UrdfCollisions.cs.meta │ │ ├── UrdfInertial.cs │ │ ├── UrdfInertial.cs.meta │ │ ├── UrdfJoints.meta │ │ ├── UrdfJoints │ │ ├── UrdfJoint.cs │ │ ├── UrdfJoint.cs.meta │ │ ├── UrdfJointContinuous.cs │ │ ├── UrdfJointContinuous.cs.meta │ │ ├── UrdfJointFixed.cs │ │ ├── UrdfJointFixed.cs.meta │ │ ├── UrdfJointFloating.cs │ │ ├── UrdfJointFloating.cs.meta │ │ ├── UrdfJointPlanar.cs │ │ ├── UrdfJointPlanar.cs.meta │ │ ├── UrdfJointPrismatic.cs │ │ ├── UrdfJointPrismatic.cs.meta │ │ ├── UrdfJointRevolute.cs │ │ └── UrdfJointRevolute.cs.meta │ │ ├── UrdfLink.cs │ │ ├── UrdfLink.cs.meta │ │ ├── UrdfOrigin.cs │ │ ├── UrdfOrigin.cs.meta │ │ ├── UrdfPlugin.cs │ │ ├── UrdfPlugin.cs.meta │ │ ├── UrdfPlugins.cs │ │ ├── UrdfPlugins.cs.meta │ │ ├── UrdfRobot.cs │ │ ├── UrdfRobot.cs.meta │ │ ├── UrdfVisual.cs │ │ ├── UrdfVisual.cs.meta │ │ ├── UrdfVisuals.cs │ │ └── UrdfVisuals.cs.meta ├── RosSharpMessages.meta ├── RosSharpMessages │ ├── Ftc.meta │ └── Ftc │ │ ├── msg.meta │ │ └── msg │ │ ├── DcMotorInput.cs │ │ ├── DcMotorInput.cs.meta │ │ ├── DcMotorOutput.cs │ │ └── DcMotorOutput.cs.meta ├── Scenes.meta ├── Scenes │ ├── DiffSimulationScene.unity │ ├── DiffSimulationScene.unity.meta │ ├── SwerveSimulationScene.unity │ └── SwerveSimulationScene.unity.meta ├── Scripts.meta ├── Scripts │ ├── Control.meta │ ├── Control │ │ ├── FRC.meta │ │ ├── FRC │ │ │ ├── FlywheelControl.cs │ │ │ ├── FlywheelControl.cs.meta │ │ │ ├── HoodControl.cs │ │ │ ├── HoodControl.cs.meta │ │ │ ├── ShooterControl.cs │ │ │ ├── ShooterControl.cs.meta │ │ │ ├── SwerveAngleControl.cs │ │ │ ├── SwerveAngleControl.cs.meta │ │ │ ├── SwerveWheelControl.cs │ │ │ ├── SwerveWheelControl.cs.meta │ │ │ ├── TurretControl.cs │ │ │ └── TurretControl.cs.meta │ │ ├── FTC.meta │ │ ├── FTC │ │ │ ├── FtcShooterControl.cs │ │ │ └── FtcShooterControl.cs.meta │ │ ├── IntakeControl.cs │ │ └── IntakeControl.cs.meta │ ├── DataPubSub.meta │ ├── DataPubSub │ │ ├── DcMotorInputSubscriber.cs │ │ ├── DcMotorInputSubscriber.cs.meta │ │ ├── DcMotorOutputPublisher.cs │ │ ├── DcMotorOutputPublisher.cs.meta │ │ ├── FloatSubscriber.cs │ │ ├── FloatSubscriber.cs.meta │ │ ├── FlywheelDataPublisher.cs │ │ ├── FlywheelDataPublisher.cs.meta │ │ ├── HoodDataPublisher.cs │ │ ├── HoodDataPublisher.cs.meta │ │ ├── ResetPoseSubscriber.cs │ │ ├── ResetPoseSubscriber.cs.meta │ │ ├── StringSubscriber.cs │ │ ├── StringSubscriber.cs.meta │ │ ├── TurretDataPublisher.cs │ │ └── TurretDataPublisher.cs.meta │ ├── GameControl.meta │ ├── GameControl │ │ ├── BlueGoal.cs │ │ ├── BlueGoal.cs.meta │ │ ├── FRC.meta │ │ ├── FTC.meta │ │ ├── RedGoal.cs │ │ ├── RedGoal.cs.meta │ │ ├── ScoreKeeper.cs │ │ └── ScoreKeeper.cs.meta │ ├── Manager.meta │ └── Manager │ │ ├── FRC.meta │ │ ├── FRC │ │ ├── RobotManager.cs │ │ ├── RobotManager.cs.meta │ │ ├── SwerveManager.cs │ │ └── SwerveManager.cs.meta │ │ ├── FTC.meta │ │ └── FTC │ │ ├── FtcStraferManager.cs │ │ └── FtcStraferManager.cs.meta ├── Urdf.meta └── Urdf │ ├── Deadshot-624.meta │ ├── Deadshot-624 │ ├── Materials.meta │ ├── Materials │ │ ├── Default.mat │ │ ├── Default.mat.meta │ │ ├── black.mat │ │ ├── black.mat.meta │ │ ├── blue.mat │ │ ├── blue.mat.meta │ │ ├── green.mat │ │ ├── green.mat.meta │ │ ├── white.mat │ │ └── white.mat.meta │ ├── robot_description.urdf │ ├── robot_description.urdf.meta │ ├── robot_urdf.meta │ └── robot_urdf │ │ ├── meshes.meta │ │ └── meshes │ │ ├── base.prefab │ │ ├── base.prefab.meta │ │ ├── base.stl │ │ ├── base.stl.meta │ │ ├── base_0.asset │ │ ├── base_0.asset.meta │ │ ├── base_1.asset │ │ ├── base_1.asset.meta │ │ ├── base_2.asset │ │ ├── base_2.asset.meta │ │ ├── base_3.asset │ │ ├── base_3.asset.meta │ │ ├── base_4.asset │ │ ├── base_4.asset.meta │ │ ├── base_5.asset │ │ ├── base_5.asset.meta │ │ ├── base_6.asset │ │ ├── base_6.asset.meta │ │ ├── base_7.asset │ │ ├── base_7.asset.meta │ │ ├── base_8.asset │ │ ├── base_8.asset.meta │ │ ├── base_9.asset │ │ ├── base_9.asset.meta │ │ ├── hood.prefab │ │ ├── hood.prefab.meta │ │ ├── hood.stl │ │ ├── hood.stl.meta │ │ ├── hood_0.asset │ │ ├── hood_0.asset.meta │ │ ├── intake.prefab │ │ ├── intake.prefab.meta │ │ ├── intake.stl │ │ ├── intake.stl.meta │ │ ├── intake_0.asset │ │ ├── intake_0.asset.meta │ │ ├── intake_1.asset │ │ ├── intake_1.asset.meta │ │ ├── intake_2.asset │ │ ├── intake_2.asset.meta │ │ ├── turret.prefab │ │ ├── turret.prefab.meta │ │ ├── turret.stl │ │ ├── turret.stl.meta │ │ ├── turret_0.asset │ │ ├── turret_0.asset.meta │ │ ├── turret_1.asset │ │ ├── turret_1.asset.meta │ │ ├── turret_2.asset │ │ ├── turret_2.asset.meta │ │ ├── wheel.prefab │ │ ├── wheel.prefab.meta │ │ ├── wheel.stl │ │ ├── wheel.stl.meta │ │ ├── wheel_0.asset │ │ ├── wheel_0.asset.meta │ │ ├── wheel_1.asset │ │ ├── wheel_1.asset.meta │ │ ├── wheel_2.asset │ │ └── wheel_2.asset.meta │ ├── Swerve-624.meta │ ├── Swerve-624 │ ├── Materials.meta │ ├── Materials │ │ ├── Default.mat │ │ ├── Default.mat.meta │ │ ├── black.mat │ │ ├── black.mat.meta │ │ ├── blue.mat │ │ ├── blue.mat.meta │ │ ├── white.mat │ │ └── white.mat.meta │ ├── robot_description.urdf │ ├── robot_description.urdf.meta │ ├── robot_urdf.meta │ └── robot_urdf │ │ ├── meshes.meta │ │ └── meshes │ │ ├── base.prefab │ │ ├── base.prefab.meta │ │ ├── base.stl │ │ ├── base.stl.meta │ │ ├── base_0.asset │ │ ├── base_0.asset.meta │ │ ├── base_1.asset │ │ ├── base_1.asset.meta │ │ ├── base_2.asset │ │ ├── base_2.asset.meta │ │ ├── base_3.asset │ │ ├── base_3.asset.meta │ │ ├── base_4.asset │ │ ├── base_4.asset.meta │ │ ├── base_5.asset │ │ ├── base_5.asset.meta │ │ ├── base_6.asset │ │ ├── base_6.asset.meta │ │ ├── base_7.asset │ │ ├── base_7.asset.meta │ │ ├── base_8.asset │ │ ├── base_8.asset.meta │ │ ├── base_9.asset │ │ ├── base_9.asset.meta │ │ ├── hood.prefab │ │ ├── hood.prefab.meta │ │ ├── hood.stl │ │ ├── hood.stl.meta │ │ ├── hood_0.asset │ │ ├── hood_0.asset.meta │ │ ├── intake.prefab │ │ ├── intake.prefab.meta │ │ ├── intake.stl │ │ ├── intake.stl.meta │ │ ├── intake_0.asset │ │ ├── intake_0.asset.meta │ │ ├── intake_1.asset │ │ ├── intake_1.asset.meta │ │ ├── intake_2.asset │ │ ├── intake_2.asset.meta │ │ ├── turret.prefab │ │ ├── turret.prefab.meta │ │ ├── turret.stl │ │ ├── turret.stl.meta │ │ ├── turret_0.asset │ │ ├── turret_0.asset.meta │ │ ├── turret_1.asset │ │ ├── turret_1.asset.meta │ │ ├── wheel.prefab │ │ ├── wheel.prefab.meta │ │ ├── wheel.stl │ │ ├── wheel.stl.meta │ │ ├── wheel_0.asset │ │ ├── wheel_0.asset.meta │ │ ├── wheel_1.asset │ │ ├── wheel_1.asset.meta │ │ ├── wheel_2.asset │ │ └── wheel_2.asset.meta │ ├── Turtlebot2.meta │ └── Turtlebot2 │ ├── Materials.meta │ ├── Materials │ ├── Default.mat │ ├── Default.mat.meta │ ├── Green.mat │ └── Green.mat.meta │ ├── create_description.meta │ ├── create_description │ ├── meshes.meta │ └── meshes │ │ ├── create_body.dae │ │ ├── create_body.dae.meta │ │ ├── create_body.tga │ │ └── create_body.tga.meta │ ├── robot_description.urdf │ ├── robot_description.urdf.meta │ ├── turtlebot_description.meta │ └── turtlebot_description │ ├── meshes.meta │ └── meshes │ ├── sensors.meta │ ├── sensors │ ├── kinect.dae │ ├── kinect.dae.meta │ ├── kinect.jpg │ └── kinect.jpg.meta │ ├── stacks.meta │ └── stacks │ ├── circles.meta │ └── circles │ ├── 68-02403-125_Spacer.dae │ ├── 68-02403-125_Spacer.dae.meta │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff.dae │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff.dae.meta │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff_color.png │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff_color.png.meta │ ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff_color.png │ ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff_color.png.meta │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff.dae │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff.dae.meta │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff_color.png │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff_color.png.meta │ ├── 68-04556-RA_Kinect_Standoff_Assy.dae │ ├── 68-04556-RA_Kinect_Standoff_Assy.dae.meta │ ├── plate_0_logo.dae │ ├── plate_0_logo.dae.meta │ ├── plate_0_logo.tga │ ├── plate_0_logo.tga.meta │ ├── plate_1_logo.dae │ ├── plate_1_logo.dae.meta │ ├── plate_1_logo.tga │ ├── plate_1_logo.tga.meta │ ├── plate_2_logo.dae │ ├── plate_2_logo.dae.meta │ ├── plate_2_logo.tga │ └── plate_2_logo.tga.meta ├── Packages └── manifest.json ├── ProjectSettings ├── AudioManager.asset ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── NavMeshAreas.asset ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── TagManager.asset ├── TimeManager.asset ├── UnityConnectSettings.asset ├── VFXManager.asset └── XRSettings.asset └── README.md /.gitignore: -------------------------------------------------------------------------------- 1 | # This .gitignore file should be placed at the root of your Unity project directory 2 | # 3 | # Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore 4 | # 5 | /[Ll]ibrary/ 6 | /[Tt]emp/ 7 | /[Oo]bj/ 8 | /[Bb]uild/ 9 | /[Bb]uilds/ 10 | /[Ll]ogs/ 11 | /[Mm]emoryCaptures/ 12 | 13 | # Asset meta data should only be ignored when the corresponding asset is also ignored 14 | !/[Aa]ssets/**/*.meta 15 | 16 | # Uncomment this line if you wish to ignore the asset store tools plugin 17 | # /[Aa]ssets/AssetStoreTools* 18 | 19 | # Autogenerated Jetbrains Rider plugin 20 | [Aa]ssets/Plugins/Editor/JetBrains* 21 | 22 | # Visual Studio cache directory 23 | .vs/ 24 | 25 | # Gradle cache directory 26 | .gradle/ 27 | 28 | # Autogenerated VS/MD/Consulo solution and project files 29 | ExportedObj/ 30 | 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b764064f57e6f9c40ac0a1456ad0ad83 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scenes/GazeboSimulationScene.unity.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: bc19cd368e8aa004aa3cf3d9812ba4f8 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8745b455af849b4498f21dacc3d49b97 3 | folderAsset: yes 4 | timeCreated: 1515483932 5 | licenseType: Pro 6 | DefaultImporter: 7 | externalObjects: {} 8 | userData: 9 | assetBundleName: 10 | assetBundleVariant: 11 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Extensions.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 045b15a6f0f414046a6a93175b5d9340 3 | folderAsset: yes 4 | timeCreated: 1518168052 5 | licenseType: Pro 6 | DefaultImporter: 7 | externalObjects: {} 8 | userData: 9 | assetBundleName: 10 | assetBundleVariant: 11 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Extensions/HeaderExtensions.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017-2019 3 | Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | // Added allocation free alternatives 17 | // UoK , 2019, Odysseas Doumas (od79@kent.ac.uk / odydoum@gmail.com) 18 | 19 | namespace RosSharp.RosBridgeClient 20 | { 21 | public static class HeaderExtensions 22 | { 23 | private static Timer timer = new Timer(); 24 | 25 | public static void Update(this MessageTypes.Std.Header header) 26 | { 27 | header.seq++; 28 | timer.Now(header.stamp); 29 | } 30 | } 31 | } 32 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Extensions/HeaderExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: df2854126074ef541869eb5a4420910c 3 | timeCreated: 1516375370 4 | licenseType: Pro 5 | MonoImporter: 6 | externalObjects: {} 7 | serializedVersion: 2 8 | defaultReferences: [] 9 | executionOrder: 0 10 | icon: {instanceID: 0} 11 | userData: 12 | assetBundleName: 13 | assetBundleVariant: 14 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Extensions/TransformExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ac60f49b03340044085c24fcb9875c4c 3 | timeCreated: 1507114469 4 | licenseType: Pro 5 | MonoImporter: 6 | serializedVersion: 2 7 | defaultReferences: [] 8 | executionOrder: 0 9 | icon: {instanceID: 0} 10 | userData: 11 | assetBundleName: 12 | assetBundleVariant: 13 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 837f1c989d60dc54faf38dd894251010 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 869ea0bc17a31bd4c9493faf755dc838 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciAction.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b54ec1e8f8590db4ab487bf90606fc30 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciAction/FibonacciActionClientEditor.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2019 3 | Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | using UnityEditor; 17 | using UnityEngine; 18 | 19 | namespace RosSharp.RosBridgeClient.Actionlib 20 | { 21 | [CustomEditor(typeof(UnityFibonacciActionClient))] 22 | public class FibonacciActionClientEditor : Editor 23 | { 24 | public override void OnInspectorGUI() 25 | { 26 | DrawDefaultInspector(); 27 | 28 | if (GUILayout.Button("Send Goal")) 29 | { 30 | ((UnityFibonacciActionClient)target).RegisterGoal(); 31 | ((UnityFibonacciActionClient)target).fibonacciActionClient.SendGoal(); 32 | } 33 | 34 | if (GUILayout.Button("Cancel Goal")) 35 | { 36 | ((UnityFibonacciActionClient)target).fibonacciActionClient.CancelGoal(); 37 | } 38 | } 39 | } 40 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/FibonacciAction/FibonacciActionClientEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 52e0b4d623e325a438699572b3b0ce96 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/JointStatePatcherEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 2407a26662f2a2f4e909801ff4f4d394 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c1467e4fd39cfaa4685ce12d6efa0a90 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryActionAutoGenEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8a9b43c97e4c4164d9742d997079dd80 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryAutoGenEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e97d491b716c45f40b0deeaec54e6959 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectoryMsgAutoGenEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 282ded13e96ffac46a394b03ec621a7d 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/DirectorySrvAutoGenEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3b7aaa8b47b11574c8edeb6fe76680b7 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageActionAutoGenEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d78fa258e09d4d742a5d8613d8fa75b9 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageAutoGenEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 99b523215e0722744b6c01c139aaf07a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageMsgAutoGenEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d07b4ace85b51bc4dad9f4d4dbc090c1 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/PackageSrvAutoGenEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b2efbbd54b5cb134b8944fd2b6495b68 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleActionAutoGenEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 1e31ec6514f05c347921725f147ab1b4 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleAutoGenEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e78c63de220cf434f9c51fa96ba3bdd8 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleMsgAutoGenEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f7b56df3a6f64bd4ab0bf8e21c9c3db7 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/MessageGeneration/SingleSrvAutoGenEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 048ec004f0a5db34e858476b32955c2a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 59e271fcfacf0774eb424a07581efc30 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferFromRosEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e29a25e6d1ffd1c4d89012293f661cb1 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferFromRosHandler.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7c9efb1ee97807348845877fe0e7ef1e 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferToRosEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3c4ccf806bfacae41b479e444b885c9e 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Editor/UrdfTransfer/TransferToRosHandler.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f48ea5e8cfc33d5488cf7de428673745 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 12a1b0da3e1af124c83feb6c1e4c6aa4 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JointStatePatcher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e8346600dd4db234680344092ad74320 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JointStateReader.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017-2018 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | using RosSharp.Urdf; 17 | using UnityEngine; 18 | using Joint = UnityEngine.Joint; 19 | 20 | namespace RosSharp.RosBridgeClient 21 | { 22 | [RequireComponent(typeof(Joint)), RequireComponent(typeof(UrdfJoint))] 23 | public class JointStateReader : MonoBehaviour 24 | { 25 | private UrdfJoint urdfJoint; 26 | 27 | private void Start() 28 | { 29 | urdfJoint = GetComponent(); 30 | } 31 | 32 | public void Read(out string name, out float position, out float velocity, out float effort) 33 | { 34 | name = urdfJoint.JointName; 35 | position = urdfJoint.GetPosition(); 36 | velocity = urdfJoint.GetVelocity(); 37 | effort = urdfJoint.GetEffort(); 38 | } 39 | } 40 | } 41 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JointStateReader.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3122a7138a008c14f83e8b3df6286693 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JointStateWriter.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: aec95d463d3b5794e8e0107fc6647fcd 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JoyAxisInputPasser.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017-2018 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | using UnityEngine; 17 | 18 | namespace RosSharp.RosBridgeClient 19 | { 20 | [RequireComponent(typeof(JoyAxisWriter))] 21 | public class JoyAxisInputPasser : MonoBehaviour 22 | { 23 | public string AxisName; 24 | private JoyAxisWriter joyAxisWriter; 25 | 26 | private void Start() 27 | { 28 | joyAxisWriter = GetComponent(); 29 | } 30 | private void Update() 31 | { 32 | joyAxisWriter.Write(Input.GetAxis(AxisName)); 33 | } 34 | } 35 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JoyAxisInputPasser.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 923fecaa38f2ae547ab528567e16cafb 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JoyAxisJointMotorWriter.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ad5ab4daf6c93324dbf28898bdd613d9 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JoyAxisJointTransformWriter.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 74ab6e765b4300541849106dd62916b4 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JoyAxisReader.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017-2018 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | using UnityEngine; 17 | 18 | namespace RosSharp.RosBridgeClient 19 | { 20 | public class JoyAxisReader : MonoBehaviour 21 | { 22 | public string Name; 23 | 24 | public float Read() 25 | { 26 | return Input.GetAxis(Name); 27 | } 28 | } 29 | } 30 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JoyAxisReader.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c8e7046e9f110da4a81262f9658c8514 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JoyAxisWriter.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017-2018 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | using UnityEngine; 17 | 18 | namespace RosSharp.RosBridgeClient 19 | { 20 | public abstract class JoyAxisWriter : MonoBehaviour 21 | { 22 | public abstract void Write(float value); 23 | } 24 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JoyAxisWriter.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7d9ad876c4dbdb546825bb1ae7483738 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JoyButtonReader.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017-2018 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | using UnityEngine; 17 | 18 | namespace RosSharp.RosBridgeClient 19 | { 20 | public class JoyButtonReader : MonoBehaviour 21 | { 22 | public string Name; 23 | 24 | public bool Read() 25 | { 26 | return Input.GetButton(Name); 27 | } 28 | } 29 | } 30 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JoyButtonReader.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0788587cb93223349af5ec1b4ecac346 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JoyButtonWriter.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017-2018 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | using UnityEngine; 17 | 18 | namespace RosSharp.RosBridgeClient 19 | { 20 | public abstract class JoyButtonWriter : MonoBehaviour 21 | { 22 | public abstract void Write(int value); 23 | } 24 | } 25 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/JoyButtonWriter.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: cc197400e2dac3649978623819e8f743 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/LaserScanReader.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c87b3c7b7739511498b2993d8daf6c51 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/MessageHandling/LaserScanWriter.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fa4d78f1d9cef6948b0f87fdc8eee025 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e9e76d7fd73d24b40aec74104a2ed4d4 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/GetParamServiceProvider.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017-2018 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | using System.Collections.Generic; 17 | using rosapi = RosSharp.RosBridgeClient.MessageTypes.Rosapi; 18 | 19 | namespace RosSharp.RosBridgeClient 20 | { 21 | public class GetParamServiceProvider : UnityServiceProvider 22 | { 23 | public Dictionary Parameters = new Dictionary 24 | { 25 | { "UnityVersion", UnityEngine.Application.version} 26 | }; 27 | 28 | protected override bool ServiceCallHandler(rosapi.GetParamRequest request, out rosapi.GetParamResponse response) 29 | { 30 | response = new rosapi.GetParamResponse(); 31 | string responseValue; 32 | if (Parameters.TryGetValue(request.name, out responseValue)) 33 | { 34 | response.value = responseValue; 35 | return true; 36 | } 37 | response.value = "unknown parameter " + request.name; 38 | return false; 39 | } 40 | } 41 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/GetParamServiceProvider.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b80f92e1089932f4da30a2090fae7196 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ImagePublisher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a908e83b1e7ce9e428caae2838615cc3 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ImageSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ef6e2677fa36b0c46a9f6d8bd354c686 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStatePublisher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: aae1d8da5a3c0644bb98a540ca597dfb 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStateSubscriber.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017-2019 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | using System.Collections.Generic; 17 | 18 | namespace RosSharp.RosBridgeClient 19 | { 20 | public class JointStateSubscriber : UnitySubscriber 21 | { 22 | public List JointNames; 23 | public List JointStateWriters; 24 | 25 | protected override void ReceiveMessage(MessageTypes.Sensor.JointState message) 26 | { 27 | int index; 28 | for (int i = 0; i < message.name.Length; i++) 29 | { 30 | index = JointNames.IndexOf(message.name[i]); 31 | if (index != -1) 32 | JointStateWriters[index].Write((float) message.position[i]); 33 | } 34 | } 35 | } 36 | } 37 | 38 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JointStateSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4fe4cf3b1dd3507418f7ec019f9193ff 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JoyPublisher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 92dedf3f173285b4d9a806dec2334596 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JoySubscriber.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017-2018 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | namespace RosSharp.RosBridgeClient 17 | { 18 | public class JoySubscriber : UnitySubscriber 19 | { 20 | public JoyButtonWriter[] joyButtonWriters; 21 | public JoyAxisWriter[] joyAxisWriters; 22 | 23 | protected override void Start() 24 | { 25 | base.Start(); 26 | } 27 | 28 | protected override void ReceiveMessage(MessageTypes.Sensor.Joy joy) 29 | { 30 | int I = joyButtonWriters.Length < joy.buttons.Length ? joyButtonWriters.Length : joy.buttons.Length; 31 | for (int i = 0; i < I; i++) 32 | if (joyButtonWriters[i] != null) 33 | joyButtonWriters[i].Write(joy.buttons[i]); 34 | 35 | I = joyAxisWriters.Length < joy.axes.Length ? joyAxisWriters.Length : joy.axes.Length; 36 | for (int i = 0; i < I; i++) 37 | if (joyAxisWriters[i] != null) 38 | joyAxisWriters[i].Write(joy.axes[i]); 39 | } 40 | } 41 | } 42 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/JoySubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ac3b5c497c54f1b4ab2a96f69bc1586d 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanPublisher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 938611d5f671cfe4f9be87c66d865ae1 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanSubscriber.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | namespace RosSharp.RosBridgeClient 17 | { 18 | public class LaserScanSubscriber : UnitySubscriber 19 | { 20 | public LaserScanWriter laserScanWriter; 21 | 22 | protected override void Start() 23 | { 24 | base.Start(); 25 | } 26 | 27 | protected override void ReceiveMessage(MessageTypes.Sensor.LaserScan laserScan) 28 | { 29 | laserScanWriter.Write(laserScan); 30 | } 31 | } 32 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fb64e2e126e45a841b84bdd797701aff 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometryPublisher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 490e8241138760b4aa102afe2e299093 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/OdometrySubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 57574a16cdc8b64408e42846c7ae13fd 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/PoseStampedPublisher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: aa23b622c60c13f48bdfa74b2e974f20 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/PoseStampedSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e6cd27ba95adab14d85c327244d65eb0 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/RosConnector.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ff98778ae051cfd40a6e4effdf851ebd 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistPublisher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 606c7a0f1a4d07d4a8d2259a5a5bcfe4 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 81c5dfb51482c2e47b602e8096d45712 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionClient.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 705f9408f07cb1d42a76f8cf1c3ddfaa 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionSever.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2019 3 | Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | using UnityEngine; 17 | 18 | namespace RosSharp.RosBridgeClient.Actionlib 19 | { 20 | [RequireComponent(typeof(RosConnector))] 21 | public class UnityFibonacciActionSever : MonoBehaviour 22 | { 23 | private RosConnector rosConnector; 24 | private FibonacciActionServer fibonacciActionServer; 25 | 26 | public string actionName; 27 | public string status; 28 | public string feedback; 29 | 30 | private void Start() 31 | { 32 | rosConnector = GetComponent(); 33 | fibonacciActionServer = new FibonacciActionServer(actionName, rosConnector.RosSocket, new Log(x => Debug.Log(x))); 34 | fibonacciActionServer.Initialize(); 35 | } 36 | 37 | private void Update() 38 | { 39 | fibonacciActionServer.PublishStatus(); 40 | status = fibonacciActionServer.GetStatus().ToString(); 41 | feedback = fibonacciActionServer.GetFeedbackSequenceString(); 42 | } 43 | } 44 | 45 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityFibonacciActionSever.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0e1885e8f089b3f48a0de19e58c6d0d1 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityPublisher.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017-2018 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | using UnityEngine; 17 | 18 | namespace RosSharp.RosBridgeClient 19 | { 20 | [RequireComponent(typeof(RosConnector))] 21 | public abstract class UnityPublisher : MonoBehaviour where T : Message 22 | { 23 | public string Topic; 24 | private string publicationId; 25 | 26 | private RosConnector rosConnector; 27 | 28 | protected virtual void Start() 29 | { 30 | rosConnector = GetComponent(); 31 | publicationId = rosConnector.RosSocket.Advertise(Topic); 32 | } 33 | 34 | protected void Publish(T message) 35 | { 36 | rosConnector.RosSocket.Publish(publicationId, message); 37 | } 38 | } 39 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityPublisher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3dcd201cdffc8b841b83588f9c4d4496 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityServiceProvider.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Dyno Robotics, 2018 3 | Author: Samuel Lindgren (samuel@dynorobotics.se) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | using UnityEngine; 17 | 18 | namespace RosSharp.RosBridgeClient 19 | { 20 | [RequireComponent(typeof(RosConnector))] 21 | public abstract class UnityServiceProvider : MonoBehaviour where Tin : Message where Tout : Message 22 | { 23 | public string ServiceName; 24 | 25 | protected virtual void Start() 26 | { 27 | GetComponent().RosSocket.AdvertiseService(ServiceName, ServiceCallHandler); 28 | } 29 | 30 | protected abstract bool ServiceCallHandler(Tin request, out Tout response); 31 | 32 | } 33 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnityServiceProvider.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: df225416703218b4f9010633994aef66 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/UnitySubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0ae61387da9572f4d9d978ebf49e975c 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/SensorDataVisualization.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 78cf302516360b84183051d399c11e89 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/SensorDataVisualization/LaserScanVisualizer.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7d982c44e68badf478376ef0d29916b6 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/SensorDataVisualization/LaserScanVisualizerLines.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 28b0e460b28ad924d8aaea870b04bfce 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/SensorDataVisualization/LaserScanVisualizerMesh.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0ea4e3d809c8162478da9317157fa391 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/SensorDataVisualization/LaserScanVisualizerSpheres.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f92a4685a1c7a9241813e113f1fe7baf 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Timing.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c184d62abebf98b418ff51e78dbb2f1d 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/RosBridgeClient/Timing/Timer.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 11e58fd2371afba4cb977bd643ccf57e 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 2cee133bfc299f94888ae2550f59708b 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: bd123d322cf79bb4a9ffe977e5b1b8c2 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/AssetHandlers.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0531422a05558a841bc329ab7070660b 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/AssetHandlers/LocateAssetHandler.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7c8466a168c9bdc4085c7a930a64e01a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/AssetHandlers/UrdfAssetPathHandler.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: eda16a4d0a12f154a9ee44b2a9ebadba 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/AssetHandlers/UrdfExportPathHandler.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7ebd09bf2a1f1044e8cb83f397cf5bbe 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/AssetHandlers/UrdfMeshExportHandler.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4fa003382182826448b8df1480e6ce7a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d1243f26ab35bb7479127704feace27a 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/HingeJointLimitsManagerEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8da7899cd5182224caa39186f3f1aeee 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/RigidbodyEditor.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | 9 | . 10 | 11 | Unless required by applicable law or agreed to in writing, software 12 | distributed under the License is distributed on an "AS IS" BASIS, 13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | See the License for the specific language governing permissions and 15 | limitations under the License. 16 | */ 17 | 18 | using UnityEditor; 19 | using UnityEngine; 20 | 21 | namespace RosSharp.Urdf.Editor 22 | { 23 | [CustomEditor(typeof(Rigidbody))] 24 | public class RigidbodyEditor : UnityEditor.Editor 25 | { 26 | public override void OnInspectorGUI() 27 | { 28 | base.OnInspectorGUI(); 29 | 30 | Rigidbody _rigidbody = (Rigidbody)target; 31 | _rigidbody.centerOfMass = EditorGUILayout.Vector3Field("Center Of Mass", _rigidbody.centerOfMass); 32 | _rigidbody.inertiaTensor = EditorGUILayout.Vector3Field("Inertia Tensor", _rigidbody.inertiaTensor); 33 | 34 | Quaternion inertiaTensorRotation = new Quaternion(); 35 | inertiaTensorRotation.eulerAngles = EditorGUILayout.Vector3Field("Inertia Tensor Rotation", _rigidbody.inertiaTensorRotation.eulerAngles); 36 | _rigidbody.inertiaTensorRotation = inertiaTensorRotation; 37 | } 38 | } 39 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/RigidbodyEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d389532f50303254cbbd051321e7f126 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/UrdfCollisionEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 719fc1238585c0a45a7f552b6b82b3fd 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/UrdfCollisionsEditor.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | 9 | . 10 | 11 | Unless required by applicable law or agreed to in writing, software 12 | distributed under the License is distributed on an "AS IS" BASIS, 13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | See the License for the specific language governing permissions and 15 | limitations under the License. 16 | */ 17 | 18 | using UnityEditor; 19 | using UnityEngine; 20 | 21 | namespace RosSharp.Urdf.Editor 22 | { 23 | [CustomEditor(typeof(UrdfCollisions))] 24 | class UrdfCollisionsEditor : UnityEditor.Editor 25 | { 26 | private UrdfCollisions urdfCollisions; 27 | private GeometryTypes geometryType; 28 | 29 | public override void OnInspectorGUI() 30 | { 31 | urdfCollisions = (UrdfCollisions)target; 32 | 33 | GUILayout.Space(10); 34 | geometryType = (GeometryTypes)EditorGUILayout.EnumPopup("Type of collision", geometryType); 35 | 36 | if (GUILayout.Button("Add collision")) 37 | UrdfCollisionExtensions.Create(urdfCollisions.transform, geometryType); 38 | } 39 | } 40 | } 41 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/UrdfCollisionsEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 114be454b3eb9af42b0b503c00f4628d 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/UrdfInertialEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9b97b9bad9ce6574596410b440c07328 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/UrdfJointEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 46d8d729a220ab74e9f75e98979f333b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/UrdfLinkEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8342ef1205e407f488826e56f801c9bc 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/UrdfPluginsEditor.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | 9 | . 10 | 11 | Unless required by applicable law or agreed to in writing, software 12 | distributed under the License is distributed on an "AS IS" BASIS, 13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | See the License for the specific language governing permissions and 15 | limitations under the License. 16 | */ 17 | 18 | using UnityEditor; 19 | using UnityEngine; 20 | 21 | namespace RosSharp.Urdf.Editor 22 | { 23 | [CustomEditor(typeof(UrdfPlugins))] 24 | class UrdfPluginsEditor : UnityEditor.Editor 25 | { 26 | private GeometryTypes geometryType; 27 | 28 | public override void OnInspectorGUI() 29 | { 30 | UrdfPlugins urdfPlugins = (UrdfPlugins)target; 31 | 32 | GUILayout.Space(8); 33 | 34 | if (GUILayout.Button("Add Plugin")) 35 | UrdfPlugin.Create(urdfPlugins.transform); 36 | } 37 | } 38 | } 39 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/UrdfPluginsEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0fe4fabdbfedf5048a5b9150315168dc 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/UrdfRobotEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 808aa9a23c5441744b83dc9740d92868 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/UrdfVisualEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b044acaadde4b834aa71afa38fc5c110 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/UrdfVisualsEditor.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | 9 | . 10 | 11 | Unless required by applicable law or agreed to in writing, software 12 | distributed under the License is distributed on an "AS IS" BASIS, 13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | See the License for the specific language governing permissions and 15 | limitations under the License. 16 | */ 17 | 18 | using UnityEditor; 19 | using UnityEngine; 20 | 21 | namespace RosSharp.Urdf.Editor 22 | { 23 | [CustomEditor(typeof(UrdfVisuals))] 24 | class UrdfVisualsEditor : UnityEditor.Editor 25 | { 26 | private UrdfVisuals urdfVisuals; 27 | private GeometryTypes geometryType = GeometryTypes.Box; 28 | 29 | public override void OnInspectorGUI() 30 | { 31 | urdfVisuals = (UrdfVisuals)target; 32 | 33 | GUILayout.Space(10); 34 | geometryType = (GeometryTypes)EditorGUILayout.EnumPopup("Type of visual", geometryType); 35 | 36 | EditorGUILayout.BeginHorizontal(); 37 | if (GUILayout.Button("Add visual")) 38 | UrdfVisualExtensions.Create(urdfVisuals.transform, geometryType); 39 | EditorGUILayout.EndHorizontal(); 40 | } 41 | } 42 | } 43 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/CustomEditors/UrdfVisualsEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 47375ad816a64194865c6ff826ec5a2a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MenuItems.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 52efbcffff65f8d4caa55408a1bd0f9b 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MenuItems/UrdfExportEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fe4155eae653842448a6770a238b08a4 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MenuItems/UrdfImporterContextMenuItem.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | 9 | . 10 | 11 | Unless required by applicable law or agreed to in writing, software 12 | distributed under the License is distributed on an "AS IS" BASIS, 13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | See the License for the specific language governing permissions and 15 | limitations under the License. 16 | */ 17 | 18 | using System.IO; 19 | using UnityEditor; 20 | 21 | namespace RosSharp.Urdf.Editor 22 | { 23 | public static class UrdfImporterContextMenuItem 24 | { 25 | [MenuItem("Assets/Import Robot from URDF")] 26 | private static void CreateUrdfObject() 27 | { 28 | //Get path to asset, check if it's a urdf file 29 | string assetPath = AssetDatabase.GetAssetPath(Selection.activeObject); 30 | 31 | if (Path.GetExtension(assetPath)?.ToLower() == ".urdf") 32 | UrdfRobotExtensions.Create(UrdfAssetPathHandler.GetFullAssetPath(assetPath)); 33 | else 34 | EditorUtility.DisplayDialog("URDF Import", 35 | "The file you selected was not a URDF file. A robot can only be imported from a valid URDF file.", "Ok"); 36 | } 37 | } 38 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MenuItems/UrdfImporterContextMenuItem.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4bc1f3f83dd255c4899cef035d05034a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MenuItems/UrdfImporterMenuItem.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | 9 | . 10 | 11 | Unless required by applicable law or agreed to in writing, software 12 | distributed under the License is distributed on an "AS IS" BASIS, 13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | See the License for the specific language governing permissions and 15 | limitations under the License. 16 | */ 17 | 18 | using System.IO; 19 | using UnityEditor; 20 | using UnityEngine; 21 | 22 | namespace RosSharp.Urdf.Editor 23 | { 24 | public class UrdfImporterMenuItem 25 | { 26 | [MenuItem("GameObject/3D Object/URDF Model (import)")] 27 | private static void CreateUrdfObject() 28 | { 29 | string urdfFile = EditorUtility.OpenFilePanel( 30 | "Import local URDF", 31 | Path.Combine(Path.GetDirectoryName(Application.dataPath),"Assets"), 32 | "urdf"); 33 | 34 | if (urdfFile != "") 35 | UrdfRobotExtensions.Create(urdfFile); 36 | } 37 | } 38 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MenuItems/UrdfImporterMenuItem.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b15bb472aa579c347b5094e94a95da72 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MenuItems/UrdfRobotCreatorMenuItem.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | 9 | . 10 | 11 | Unless required by applicable law or agreed to in writing, software 12 | distributed under the License is distributed on an "AS IS" BASIS, 13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | See the License for the specific language governing permissions and 15 | limitations under the License. 16 | */ 17 | 18 | using UnityEditor; 19 | 20 | namespace RosSharp.Urdf.Editor 21 | { 22 | public static class UrdfRobotCreatorMenuItem 23 | { 24 | [MenuItem("GameObject/3D Object/URDF Model (new)")] 25 | private static void CreateUrdfObject() 26 | { 27 | UrdfRobotExtensions.Create(); 28 | } 29 | } 30 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MenuItems/UrdfRobotCreatorMenuItem.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: dad3cf6147a0b014ca525193ff3fe43b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MeshProcessing.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a201ede7f45054f49b509ba49317e9b7 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MeshProcessing/ColladaAssetPostProcessor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4501824caf23d264ca7719b00bb19ea9 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MeshProcessing/StlAssetPostProcessor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0f8c12836d114cc4c81c90d1cddde476 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MeshProcessing/StlExporter.cs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/LeonidasVarveropoulos/UnitySimulator-ROS/1bf3aadc1ab5a00ce65be38d868814ea7f37cf62/Assets/RosSharp/Scripts/Urdf/Editor/MeshProcessing/StlExporter.cs -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MeshProcessing/StlExporter.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 583545228adda674c95a96e8a8249d7b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MeshProcessing/StlImporter.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 435393e343c62ef49abb40c864150c94 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MeshProcessing/StlReader.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: cd6ec4b5ec84e214b8458c4836a50d05 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MeshProcessing/StlWriter.cs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/LeonidasVarveropoulos/UnitySimulator-ROS/1bf3aadc1ab5a00ce65be38d868814ea7f37cf62/Assets/RosSharp/Scripts/Urdf/Editor/MeshProcessing/StlWriter.cs -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/MeshProcessing/StlWriter.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 060d5de32bca2894da7fe215e4996438 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/UrdfComponents.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6d5986c9b6ba9c849b42de3952ba06b8 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/UrdfComponents/UrdfCollisionExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 11c78635e185ce14ba7c9c92ee5f44a3 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/UrdfComponents/UrdfCollisionsExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e50273b4e5a1b7a428bf69774b415b35 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/UrdfComponents/UrdfGeometry.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: de9bf6e29caa435697a1dfc99340c2d7 3 | timeCreated: 1535012948 -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/UrdfComponents/UrdfGeometryCollision.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 2be518c44448ef843b2c87a724f76d38 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/UrdfComponents/UrdfGeometryVisual.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6ffdcf00a5ee82147ba4b022b873628d 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/UrdfComponents/UrdfLinkExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: eb905a4fd3a609d42badeefe2f25ce9a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/UrdfComponents/UrdfMaterial.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 211062c8ee35252428353eafb7e3e498 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/UrdfComponents/UrdfRobotExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: dc1741ab62e85ff4eb2ad00e3482cca8 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/UrdfComponents/UrdfVisualExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: efb784c3312ba8f4f959fbdb12f80252 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Editor/UrdfComponents/UrdfVisualsExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 06d52ff46881bce4a865382c85a05965 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/JointLimitsManagers.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: bd08601e1af276a4c978f077e584a3ae 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/JointLimitsManagers/HingeJointLimitsManager.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5f37dc21ac85e2b4ca12e377369baae4 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/JointLimitsManagers/PrismaticJointLimitsManager.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a182281fdb64f4b4b8f7149bfd060d97 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Math.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c94549e62512a3b41b4a9838f73ee6a3 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/Math/Matrix3x3.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b7cea3296f0c91b42822533ef3060a64 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0c7c6bae2ede5b247812f981635674b4 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfCollision.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | 9 | . 10 | 11 | Unless required by applicable law or agreed to in writing, software 12 | distributed under the License is distributed on an "AS IS" BASIS, 13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | See the License for the specific language governing permissions and 15 | limitations under the License. 16 | */ 17 | 18 | using UnityEngine; 19 | 20 | namespace RosSharp.Urdf 21 | { 22 | [SelectionBase] 23 | public class UrdfCollision : MonoBehaviour 24 | { 25 | [SerializeField] 26 | public GeometryTypes geometryType; 27 | 28 | } 29 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfCollision.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 1c0c8ba1123c5f949b20e50d5dd6afe4 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfCollisions.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | 9 | . 10 | 11 | Unless required by applicable law or agreed to in writing, software 12 | distributed under the License is distributed on an "AS IS" BASIS, 13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | See the License for the specific language governing permissions and 15 | limitations under the License. 16 | */ 17 | using UnityEngine; 18 | 19 | namespace RosSharp.Urdf 20 | { 21 | public class UrdfCollisions : MonoBehaviour 22 | { 23 | } 24 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfCollisions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 46398bc5d6905ad429a6d2d973afe002 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfInertial.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7631001c063f69d4495bca90731abab2 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfJoints.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: caef1eccc4ef92342aff03c313f8772f 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfJoints/UrdfJoint.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 94ba922549128684c9c569471c662850 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfJoints/UrdfJointContinuous.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5b6e27abb4aa1a64bbcf79a845601047 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfJoints/UrdfJointFixed.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | using UnityEngine; 17 | 18 | namespace RosSharp.Urdf 19 | { 20 | public class UrdfJointFixed : UrdfJoint 21 | { 22 | public override JointTypes JointType => JointTypes.Fixed; 23 | 24 | public static UrdfJoint Create(GameObject linkObject) 25 | { 26 | UrdfJointFixed urdfJoint = linkObject.AddComponent(); 27 | 28 | urdfJoint.UnityJoint = linkObject.AddComponent(); 29 | urdfJoint.UnityJoint.autoConfigureConnectedAnchor = true; 30 | 31 | return urdfJoint; 32 | } 33 | 34 | protected override bool IsJointAxisDefined() 35 | { 36 | return true; //Axis isn't used 37 | } 38 | } 39 | } 40 | 41 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfJoints/UrdfJointFixed.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 074632cab556f5b408839af8574308df 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfJoints/UrdfJointFloating.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | . 9 | Unless required by applicable law or agreed to in writing, software 10 | distributed under the License is distributed on an "AS IS" BASIS, 11 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | See the License for the specific language governing permissions and 13 | limitations under the License. 14 | */ 15 | 16 | using UnityEngine; 17 | 18 | namespace RosSharp.Urdf 19 | { 20 | public class UrdfJointFloating : UrdfJoint 21 | { 22 | public override JointTypes JointType => JointTypes.Floating; 23 | 24 | public static UrdfJoint Create(GameObject linkObject) 25 | { 26 | UrdfJointFloating urdfJoint = linkObject.AddComponent(); 27 | urdfJoint.UnityJoint = linkObject.AddComponent(); 28 | 29 | return urdfJoint; 30 | } 31 | 32 | #region Runtime 33 | 34 | public override float GetPosition() 35 | { 36 | Vector3 distanceFromAnchor = ((ConfigurableJoint)UnityJoint).transform.localPosition - 37 | ((ConfigurableJoint)UnityJoint).connectedAnchor; 38 | return distanceFromAnchor.magnitude; 39 | } 40 | 41 | #endregion 42 | 43 | protected override bool IsJointAxisDefined() 44 | { 45 | return true; //Axis isn't used 46 | } 47 | } 48 | } 49 | 50 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfJoints/UrdfJointFloating.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d7e5edcd03b4c4040bc550e77e4028b0 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfJoints/UrdfJointPlanar.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: acce561d2a005d848ac314822ae51192 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfJoints/UrdfJointPrismatic.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c2739b11a8980aa48b52271bc429c745 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfJoints/UrdfJointRevolute.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 63b6193734b4c8444bcfdf4e9953fe2b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfLink.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | 9 | . 10 | 11 | Unless required by applicable law or agreed to in writing, software 12 | distributed under the License is distributed on an "AS IS" BASIS, 13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | See the License for the specific language governing permissions and 15 | limitations under the License. 16 | */ 17 | 18 | using UnityEngine; 19 | 20 | namespace RosSharp.Urdf 21 | { 22 | public class UrdfLink : MonoBehaviour 23 | { 24 | public bool IsBaseLink; 25 | } 26 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfLink.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fba5fd74d37a6cf4284698624eb8f6aa 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfOrigin.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f64152e2bbda97a4399862faf81b51dd 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfPlugin.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 76add797bdb1d8c4b8276633f6e67167 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfPlugins.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | 9 | . 10 | 11 | Unless required by applicable law or agreed to in writing, software 12 | distributed under the License is distributed on an "AS IS" BASIS, 13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | See the License for the specific language governing permissions and 15 | limitations under the License. 16 | */ 17 | 18 | using System.Collections.Generic; 19 | using System.Linq; 20 | using UnityEngine; 21 | 22 | namespace RosSharp.Urdf 23 | { 24 | public class UrdfPlugins : MonoBehaviour 25 | { 26 | public static void Create(Transform robot, List plugins = null) 27 | { 28 | GameObject pluginsObject = new GameObject("Plugins"); 29 | pluginsObject.transform.SetParentAndAlign(robot); 30 | pluginsObject.AddComponent(); 31 | 32 | if (plugins == null) return; 33 | 34 | foreach (var plugin in plugins) 35 | UrdfPlugin.Create(pluginsObject.transform, plugin); 36 | } 37 | 38 | public List ExportPluginsData() 39 | { 40 | return GetComponents() 41 | .Select(urdfPlugin => urdfPlugin.ExportPluginData()) 42 | .Where(plugin => plugin != null) 43 | .ToList(); 44 | } 45 | } 46 | 47 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfPlugins.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fae53a797b5479c43b9a3aeac7e35e5c 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfRobot.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fbf4c79288754864b8d522b69f4b52a8 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfVisual.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | 9 | . 10 | 11 | Unless required by applicable law or agreed to in writing, software 12 | distributed under the License is distributed on an "AS IS" BASIS, 13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | See the License for the specific language governing permissions and 15 | limitations under the License. 16 | */ 17 | 18 | using UnityEngine; 19 | 20 | namespace RosSharp.Urdf 21 | { 22 | [SelectionBase] 23 | public class UrdfVisual : MonoBehaviour 24 | { 25 | [SerializeField] 26 | public GeometryTypes GeometryType; 27 | } 28 | } -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfVisual.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8b2685e7e7719cd43814f41f35664c0b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfVisuals.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); 6 | you may not use this file except in compliance with the License. 7 | You may obtain a copy of the License at 8 | 9 | . 10 | 11 | Unless required by applicable law or agreed to in writing, software 12 | distributed under the License is distributed on an "AS IS" BASIS, 13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | See the License for the specific language governing permissions and 15 | limitations under the License. 16 | */ 17 | using UnityEngine; 18 | 19 | namespace RosSharp.Urdf 20 | { 21 | public class UrdfVisuals : MonoBehaviour 22 | { 23 | } 24 | } 25 | 26 | -------------------------------------------------------------------------------- /Assets/RosSharp/Scripts/Urdf/UrdfComponents/UrdfVisuals.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e9090ae501ff9cd459bec5271d40249c 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharpMessages.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c8b0c23d7ba7c354b97647f866f98dc9 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharpMessages/Ftc.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 2b277f19b48fdad479445234f474c867 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharpMessages/Ftc/msg.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e81d40e62a930724597c623f96dafd75 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/RosSharpMessages/Ftc/msg/DcMotorInput.cs: -------------------------------------------------------------------------------- 1 | /* 2 | * This message is auto generated by ROS#. Please DO NOT modify. 3 | * Note: 4 | * - Comments from the original code will be written in their own line 5 | * - Variable sized arrays will be initialized to array of size 0 6 | * Please report any issues at 7 | * 8 | */ 9 | 10 | 11 | 12 | namespace RosSharp.RosBridgeClient.MessageTypes.Ftc 13 | { 14 | public class DcMotorInput : Message 15 | { 16 | public const string RosMessageName = "ftc_msgs/DcMotorInput"; 17 | 18 | public float cmd { get; set; } 19 | public string mode { get; set; } 20 | 21 | public DcMotorInput() 22 | { 23 | this.cmd = 0.0f; 24 | this.mode = ""; 25 | } 26 | 27 | public DcMotorInput(float cmd, string mode) 28 | { 29 | this.cmd = cmd; 30 | this.mode = mode; 31 | } 32 | } 33 | } 34 | -------------------------------------------------------------------------------- /Assets/RosSharpMessages/Ftc/msg/DcMotorInput.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5188a6f9ebd60c749ab0b315ba3b6105 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/RosSharpMessages/Ftc/msg/DcMotorOutput.cs: -------------------------------------------------------------------------------- 1 | /* 2 | * This message is auto generated by ROS#. Please DO NOT modify. 3 | * Note: 4 | * - Comments from the original code will be written in their own line 5 | * - Variable sized arrays will be initialized to array of size 0 6 | * Please report any issues at 7 | * 8 | */ 9 | 10 | 11 | 12 | namespace RosSharp.RosBridgeClient.MessageTypes.Ftc 13 | { 14 | public class DcMotorOutput : Message 15 | { 16 | public const string RosMessageName = "ftc_msgs/DcMotorOutput"; 17 | 18 | public float encoder_data { get; set; } 19 | 20 | public DcMotorOutput() 21 | { 22 | this.encoder_data = 0.0f; 23 | } 24 | 25 | public DcMotorOutput(float encoder_data) 26 | { 27 | this.encoder_data = encoder_data; 28 | } 29 | } 30 | } 31 | -------------------------------------------------------------------------------- /Assets/RosSharpMessages/Ftc/msg/DcMotorOutput.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: df3ade3ab678161468e05c72f4def3d8 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scenes.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fbbc659db4bbc0e40b2b4fd45ade2750 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scenes/DiffSimulationScene.unity.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 2cd0e06c2a785ce43b83f2a4c2e4ebf5 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/Scenes/SwerveSimulationScene.unity.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6d31f69e031b1f5488716307760f3078 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/Scripts.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4e9ac57dbc7e16d40ac283b9c34e06b0 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/Control.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 598bc1794af09ae4f9563cd7c05a8943 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/Control/FRC.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c4416408ce5d7844194dfa22bf2452eb 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/Control/FRC/FlywheelControl.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.UI; 5 | 6 | public class FlywheelControl : MonoBehaviour 7 | { 8 | private float wantedVelocity = 0.0f; 9 | private float currentVelocity = 0.0f; 10 | 11 | private float power = 1f; 12 | 13 | [Header("Flywheel Control")] 14 | public float powerIncreament = 0.1f; 15 | 16 | [Header("Power UI")] 17 | public Slider slider; 18 | public float maxRpm = 2800f; 19 | 20 | void Start() 21 | { 22 | setIdle(); 23 | } 24 | 25 | void Update() 26 | { 27 | if (wantedVelocity == currentVelocity) 28 | power = 1f; 29 | 30 | else if (wantedVelocity > currentVelocity) 31 | { 32 | currentVelocity += Mathf.Pow(power += powerIncreament, 2.0f); 33 | if (currentVelocity >= wantedVelocity) 34 | currentVelocity = wantedVelocity; 35 | } 36 | else 37 | { 38 | currentVelocity -= Mathf.Pow(power += powerIncreament, 2.0f); 39 | if (wantedVelocity >= currentVelocity) 40 | currentVelocity = wantedVelocity; 41 | } 42 | slider.value = currentVelocity / maxRpm; 43 | } 44 | 45 | public void setVelocity(float vel) 46 | { 47 | wantedVelocity = vel; 48 | } 49 | 50 | public float getData() 51 | { 52 | return currentVelocity; 53 | } 54 | 55 | public void setIdle() 56 | { 57 | setVelocity(0.0f); 58 | } 59 | } 60 | -------------------------------------------------------------------------------- /Assets/Scripts/Control/FRC/FlywheelControl.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 24f1ede1051fdaa40a83a777dc546c7e 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Control/FRC/HoodControl.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 114064ada1ccb9248bf41001b4cc2f91 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Control/FRC/ShooterControl.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a8ddd3e65a0129442a37e3a03956d01c 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Control/FRC/SwerveAngleControl.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3a71b7557988dcd4fa368334165af57a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Control/FRC/SwerveWheelControl.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class SwerveWheelControl : MonoBehaviour 6 | { 7 | public float velMulti = 5f; 8 | 9 | // Start is called before the first frame update 10 | void Start() 11 | { 12 | setVelocity(0f); 13 | } 14 | 15 | 16 | public void setVelocity(float vel) 17 | { 18 | var hinge = GetComponent(); 19 | var motor = hinge.motor; 20 | motor.targetVelocity = vel * velMulti; 21 | 22 | hinge.motor = motor; 23 | } 24 | } 25 | -------------------------------------------------------------------------------- /Assets/Scripts/Control/FRC/SwerveWheelControl.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e9c12ea23a47bac4f95eabc77d5a515d 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Control/FRC/TurretControl.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9aab43be574199140be014b8c371d0a7 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Control/FTC.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f096da2ef79cfae45a68409fbf70de8e 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/Control/FTC/FtcShooterControl.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8bc8a7d1b480b5c488f3c8dc27e361c3 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Control/IntakeControl.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9fe3b01ce140fb94b897396ae19ed190 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0a3267ff74e1821499c693fe7bf0891b 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/DcMotorInputSubscriber.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | namespace RosSharp.RosBridgeClient 6 | { 7 | public class DcMotorInputSubscriber : UnitySubscriber 8 | { 9 | private float messageCmd = 0.0f; 10 | public string messageMode = ""; 11 | 12 | protected override void Start() 13 | { 14 | base.Start(); 15 | } 16 | 17 | protected override void ReceiveMessage(MessageTypes.Ftc.DcMotorInput message) 18 | { 19 | messageCmd = message.cmd; 20 | messageMode = message.mode; 21 | } 22 | 23 | public float getCmd() 24 | { 25 | return messageCmd; 26 | } 27 | 28 | public string getMode() 29 | { 30 | return messageMode; 31 | } 32 | } 33 | } 34 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/DcMotorInputSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3c51b74f853ebd2409e336d58e2c03b3 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/DcMotorOutputPublisher.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | namespace RosSharp.RosBridgeClient 6 | { 7 | public class DcMotorOutputPublisher : UnityPublisher 8 | { 9 | 10 | private MessageTypes.Ftc.DcMotorOutput message; 11 | private float encoder_data = 0.0f; 12 | 13 | protected override void Start() 14 | { 15 | base.Start(); 16 | InitializeMessage(); 17 | } 18 | 19 | private void FixedUpdate() 20 | { 21 | UpdateMessage(); 22 | } 23 | 24 | private void InitializeMessage() 25 | { 26 | message = new MessageTypes.Ftc.DcMotorOutput 27 | { 28 | 29 | }; 30 | } 31 | 32 | private void UpdateMessage() 33 | { 34 | message.encoder_data = encoder_data; 35 | Publish(message); 36 | } 37 | 38 | public void updateEncoders(float data) 39 | { 40 | encoder_data = data; 41 | } 42 | } 43 | } 44 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/DcMotorOutputPublisher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b86a10b725eedf0438e14c1f704bd924 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/FloatSubscriber.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | namespace RosSharp.RosBridgeClient 6 | { 7 | public class FloatSubscriber : UnitySubscriber 8 | { 9 | private float messageData = 0.0f; 10 | 11 | protected override void Start() 12 | { 13 | base.Start(); 14 | } 15 | 16 | protected override void ReceiveMessage(MessageTypes.Std.Float32 message) 17 | { 18 | messageData = message.data; 19 | } 20 | 21 | public float getData() 22 | { 23 | return messageData; 24 | } 25 | } 26 | } 27 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/FloatSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a400304abc6ff6445a454130224f3eb6 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/FlywheelDataPublisher.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | 3 | namespace RosSharp.RosBridgeClient 4 | { 5 | public class FlywheelDataPublisher : UnityPublisher 6 | { 7 | public GameObject flywheel; 8 | private FlywheelControl flywheelData; 9 | 10 | private MessageTypes.Std.Float32 message; 11 | private float previousRealTime; 12 | 13 | void Awake() 14 | { 15 | flywheelData = flywheel.GetComponent(); 16 | } 17 | 18 | protected override void Start() 19 | { 20 | base.Start(); 21 | InitializeMessage(); 22 | } 23 | 24 | private void FixedUpdate() 25 | { 26 | UpdateMessage(); 27 | } 28 | 29 | private void InitializeMessage() 30 | { 31 | message = new MessageTypes.Std.Float32(); 32 | } 33 | 34 | private void UpdateMessage() 35 | { 36 | GetData(flywheelData.getData(), message); 37 | 38 | Publish(message); 39 | 40 | previousRealTime = Time.realtimeSinceStartup; 41 | } 42 | 43 | private static void GetData(float msg_data, MessageTypes.Std.Float32 msg) 44 | { 45 | msg.data = msg_data; 46 | } 47 | 48 | } 49 | } -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/FlywheelDataPublisher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 492231c82238e6d4cbd6c4c16f3d04ba 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/HoodDataPublisher.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | 3 | namespace RosSharp.RosBridgeClient 4 | { 5 | public class HoodDataPublisher : UnityPublisher 6 | { 7 | public GameObject hood; 8 | private HoodControl hoodData; 9 | 10 | private MessageTypes.Std.Float32 message; 11 | private float previousRealTime; 12 | 13 | void Awake() 14 | { 15 | hoodData = hood.GetComponent(); 16 | } 17 | 18 | protected override void Start() 19 | { 20 | base.Start(); 21 | InitializeMessage(); 22 | } 23 | 24 | private void FixedUpdate() 25 | { 26 | UpdateMessage(); 27 | } 28 | 29 | private void InitializeMessage() 30 | { 31 | message = new MessageTypes.Std.Float32(); 32 | } 33 | 34 | private void UpdateMessage() 35 | { 36 | GetData(hoodData.getData(), message); 37 | 38 | Publish(message); 39 | 40 | previousRealTime = Time.realtimeSinceStartup; 41 | } 42 | 43 | private static void GetData(float msg_data, MessageTypes.Std.Float32 msg) 44 | { 45 | msg.data = msg_data; 46 | } 47 | 48 | } 49 | } -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/HoodDataPublisher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3976ec383ce70614cb0355000ad7f725 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/ResetPoseSubscriber.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | 3 | namespace RosSharp.RosBridgeClient 4 | { 5 | public class ResetPoseSubscriber : UnitySubscriber 6 | { 7 | public Transform GlobalTransform; 8 | public Transform LocalTransform; 9 | private float[] messageData; 10 | private bool gotData = false; 11 | 12 | protected override void Start() 13 | { 14 | base.Start(); 15 | } 16 | 17 | void Update() 18 | { 19 | if (gotData) 20 | { 21 | GlobalTransform.localPosition = new Vector3((float)-messageData[1], (float)GlobalTransform.localPosition.y, (float)messageData[0]); 22 | GlobalTransform.localEulerAngles = new Vector3(0, messageData[2] * 180f/Mathf.PI, 0); 23 | 24 | LocalTransform.localPosition = new Vector3(0.0f, (float)LocalTransform.localPosition.y, 0.0f); 25 | LocalTransform.localEulerAngles = new Vector3(0f, 0f, 0f); 26 | gotData = false; 27 | } 28 | } 29 | 30 | protected override void ReceiveMessage(MessageTypes.Std.Float32MultiArray message) 31 | { 32 | messageData = message.data; 33 | gotData = true; 34 | } 35 | } 36 | } 37 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/ResetPoseSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0227eab72d82e224e8be48779abdb2c0 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/StringSubscriber.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | namespace RosSharp.RosBridgeClient 6 | { 7 | public class StringSubscriber : UnitySubscriber 8 | { 9 | private string messageData = ""; 10 | 11 | protected override void Start() 12 | { 13 | base.Start(); 14 | } 15 | 16 | protected override void ReceiveMessage(MessageTypes.Std.String message) 17 | { 18 | messageData = message.data; 19 | } 20 | 21 | public string getData() 22 | { 23 | return messageData; 24 | } 25 | } 26 | } 27 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/StringSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f2d04a1bd878aa54fa602914eee46673 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/TurretDataPublisher.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | 3 | namespace RosSharp.RosBridgeClient 4 | { 5 | public class TurretDataPublisher : UnityPublisher 6 | { 7 | public GameObject turret; 8 | private TurretControl turretData; 9 | 10 | private MessageTypes.Std.Float32 message; 11 | private float previousRealTime; 12 | 13 | void Awake() 14 | { 15 | turretData = turret.GetComponent(); 16 | } 17 | 18 | protected override void Start() 19 | { 20 | base.Start(); 21 | InitializeMessage(); 22 | } 23 | 24 | private void FixedUpdate() 25 | { 26 | UpdateMessage(); 27 | } 28 | 29 | private void InitializeMessage() 30 | { 31 | message = new MessageTypes.Std.Float32(); 32 | } 33 | 34 | private void UpdateMessage() 35 | { 36 | GetData(turretData.getData(), message); 37 | 38 | Publish(message); 39 | 40 | previousRealTime = Time.realtimeSinceStartup; 41 | } 42 | 43 | private static void GetData(float msg_data, MessageTypes.Std.Float32 msg) 44 | { 45 | msg.data = msg_data; 46 | } 47 | 48 | } 49 | } 50 | -------------------------------------------------------------------------------- /Assets/Scripts/DataPubSub/TurretDataPublisher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e92ac28b39ad80a4980e04fdce353e69 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/GameControl.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b0394fb1fed32224a8f32123ed4da97b 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/GameControl/BlueGoal.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class BlueGoal : MonoBehaviour 6 | { 7 | private ScoreKeeper scoreKeeper; 8 | public int pointsPerGoal = 0; 9 | 10 | void Awake() 11 | { 12 | scoreKeeper = GameObject.Find("ScoreKeeper").GetComponent(); 13 | } 14 | 15 | void OnCollisionEnter(Collision collision) 16 | { 17 | if (collision.collider.tag == "PowerCell") 18 | { 19 | scoreKeeper.addScoreBlue(pointsPerGoal); 20 | Destroy(collision.collider.gameObject); 21 | } 22 | } 23 | } 24 | -------------------------------------------------------------------------------- /Assets/Scripts/GameControl/BlueGoal.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 1150433cc5156284fbec1d42cbd1c083 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/GameControl/FRC.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 86abc968a9d3fa548b5bf5e2ad6c7f09 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/GameControl/FTC.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fd1f5a55608548e40b0a04897ccfe638 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/GameControl/RedGoal.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class RedGoal : MonoBehaviour 6 | { 7 | private ScoreKeeper scoreKeeper; 8 | public int pointsPerGoal = 0; 9 | 10 | void Awake() 11 | { 12 | scoreKeeper = GameObject.Find("ScoreKeeper").GetComponent(); 13 | } 14 | 15 | void OnCollisionEnter(Collision collision) 16 | { 17 | if (collision.collider.tag == "PowerCell") 18 | { 19 | scoreKeeper.addScoreRed(pointsPerGoal); 20 | Destroy(collision.collider.gameObject); 21 | } 22 | } 23 | } 24 | -------------------------------------------------------------------------------- /Assets/Scripts/GameControl/RedGoal.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 1d397a59c0930ca48b321b2608c971b6 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/GameControl/ScoreKeeper.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.UI; 5 | 6 | public class ScoreKeeper 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{fileID: 0} 7 | m_CopyBufferShader: {fileID: 0} 8 | m_SortShader: {fileID: 0} 9 | m_StripUpdateShader: {fileID: 0} 10 | m_RenderPipeSettingsPath: 11 | m_FixedTimeStep: 0.016666668 12 | m_MaxDeltaTime: 0.05 13 | -------------------------------------------------------------------------------- /ProjectSettings/XRSettings.asset: -------------------------------------------------------------------------------- 1 | { 2 | "m_SettingKeys": [ 3 | "VR Device Disabled", 4 | "VR Device User Alert" 5 | ], 6 | "m_SettingValues": [ 7 | "False", 8 | "False" 9 | ] 10 | } -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # UnitySimulator-ROS 2 | This repository is a Unity simulator that works alongside the ROS code in order to accurately simulate robot control. The code running on the physical robot and alongside the simulator are the same. The project above is the complete simulator without the CAD models due to their large file size. For more information, documentation, and the ROS robot code look at the [robot-frc](https://github.com/LeonidasVarveropoulos/robot-frc) repository. 3 | 4 | This was done using the [ros-sharp](https://github.com/siemens/ros-sharp) library. 5 | 6 | ## Demo (Video) 7 | This is a quick demo that displays the Unity simulator working alongside ROS 8 | 9 | [![Video](https://user-images.githubusercontent.com/55664403/81489736-dfe25080-923e-11ea-8f55-c2d01ca1d112.jpg)](https://www.youtube.com/watch?v=A66TlzYuKSo) 10 | 11 | ## Diagram 12 | 13 | This simulator replaces the RoboRio and all the sensor sources represented below. 14 | 15 |
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