Remove nrc DriveCommand for nrc Motors

Assets/ROSSharp Modules/MotorsSubscriber.cs → Assets/ROSSharp Modules/IGVCMotorsSubscriber.cs

@@ -4,7 +4,7 @@
 
 namespace RosSharp.RosBridgeClient.MessageTypes.Igvc
 {
-    public class MotorsSubscriber : UnitySubscriber<Motors>
+    public class IGVCMotorsSubscriber : UnitySubscriber<Motors>
     {
         private SimpleCarController car;
 

Assets/ROSSharp Modules/NRCMotorsSubscriber.cs

@@ -0,0 +1,24 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace RosSharp.RosBridgeClient.MessageTypes.Nrc
+{
+    public class NRCMotorsSubscriber : UnitySubscriber<Motors>
+    {
+        private SimpleCarController car;
+
+        protected override void Start()
+        {
+            base.Start();
+            car = GetComponent<SimpleCarController>();
+        }
+
+        protected override void ReceiveMessage(Motors motors)
+        {
+            car.leftControl = motors.left;
+            car.rightControl = motors.right;
+        }
+    }
+}
+

Assets/Robots/NRC_Robot.asset

@@ -20,8 +20,8 @@ MonoBehaviour:
     defaultValue: /nrc/camera/compressed
   - name: Drive Status Topic
     defaultValue: /nrc/sensor_data
-  - name: Drive Command Topic
-    defaultValue: /nrc/cmd
+  - name: Motors Topic
+    defaultValue: /nrc/motors
   - name: ROS Bridge IP
     defaultValue: localhost:9090
   - name: Autonomous

Assets/Robots/NRC_Robot.prefab

@@ -519,12 +519,11 @@ MonoBehaviour:
   m_GameObject: {fileID: 3740033819105132858}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: d2b35ee3f3eea854085dc8ffc433382a, type: 3}
+  m_Script: {fileID: 11500000, guid: c4e82c4c4431d734caf9c4489410979e, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
   Topic: 
   TimeStep: 0
-  tf: {fileID: 3740033819105132855}
 --- !u!1 &3740033819154644750
 GameObject:
   m_ObjectHideFlags: 0

Assets/RosSharpMessages/Nrc/msg/Motors.cs

@@ -0,0 +1,34 @@
+/* 
+ * This message is auto generated by ROS#. Please DO NOT modify.
+ * Note:
+ * - Comments from the original code will be written in their own line 
+ * - Variable sized arrays will be initialized to array of size 0 
+ * Please report any issues at 
+ * <https://github.com/siemens/ros-sharp> 
+ */
+
+using Newtonsoft.Json;
+
+namespace RosSharp.RosBridgeClient.MessageTypes.Nrc
+{
+    public class Motors : Message
+    {
+        [JsonIgnore]
+        public const string RosMessageName = "nrc_msgs/motors";
+
+        public float left;
+        public float right;
+
+        public Motors()
+        {
+            this.left = 0.0f;
+            this.right = 0.0f;
+        }
+
+        public Motors(float left, float right)
+        {
+            this.left = left;
+            this.right = right;
+        }
+    }
+}

Assets/Scripts/IGVCConfigLoader.cs

@@ -17,7 +17,7 @@ public class IGVCConfigLoader : MonoBehaviour
         private IMUPublisher iMUPublisher;
         private VelocityPublisher velocityPublisher;
         private GPSPublisher gPSPublisher;
-        private MotorsSubscriber motorsSubscriber;
+        private IGVCMotorsSubscriber motorsSubscriber;
 
         void Awake()
         {
@@ -28,7 +28,7 @@ void Awake()
             iMUPublisher = this.GetComponent<IMUPublisher>();
             velocityPublisher = this.GetComponent<VelocityPublisher>();
             gPSPublisher = this.GetComponent<GPSPublisher>();
-            motorsSubscriber = this.GetComponent<MotorsSubscriber>();
+            motorsSubscriber = this.GetComponent<IGVCMotorsSubscriber>();
 
             simpleCarController.useController = !RobotOptions.GetValue(robotName + "Autonomous").Equals("True");
             rosConnector.RosBridgeServerUrl = "ws://" + RobotOptions.GetValue(robotName + "ROS Bridge IP");

Assets/Scripts/NRCConfigLoader.cs

@@ -14,21 +14,21 @@ public class NRCConfigLoader : MonoBehaviour
         private RosConnector rosConnector;
         private ImagePublisher imagePublisher;
         private DriveStatusPublisher driveStatusPublisher;
-        private DriveCommandSubscriber driveCommandSubscriber;
+        private NRCMotorsSubscriber motorsSubscriber;
 
         void Awake()
         {
             simpleCarController = this.GetComponent<SimpleCarController>();
             rosConnector = this.GetComponent<RosConnector>();
             imagePublisher = this.GetComponent<ImagePublisher>();
             driveStatusPublisher = this.GetComponent<DriveStatusPublisher>();
-            driveCommandSubscriber = this.GetComponent<DriveCommandSubscriber>();
+            motorsSubscriber = this.GetComponent<NRCMotorsSubscriber>();
 
             simpleCarController.useController = !RobotOptions.GetValue(robotName + "Autonomous").Equals("True");
             rosConnector.RosBridgeServerUrl = "ws://" + RobotOptions.GetValue(robotName + "ROS Bridge IP");
             imagePublisher.Topic = RobotOptions.GetValue(robotName + "Camera Topic");
             driveStatusPublisher.Topic = RobotOptions.GetValue(robotName + "Drive Status Topic");
-            driveCommandSubscriber.Topic = RobotOptions.GetValue(robotName + "Drive Command Topic");
+            motorsSubscriber.Topic = RobotOptions.GetValue(robotName + "Motors Topic");
         }
     }
 }

Assets/Scripts/SimpleCarController.cs

@@ -22,13 +22,8 @@ public class SimpleCarController : MonoBehaviour
 
         public bool useController = false;
 
-        private Rigidbody rb;
-        private MotorsSubscriber ms;
-
         public void Start()
         {
-            this.rb = this.GetComponent<Rigidbody>();
-            this.ms = this.GetComponent<MotorsSubscriber>();
         }
 
         public void FixedUpdate()

Assets/StreamingAssets/build_info

@@ -1 +1 @@
-Build from DESKTOP-QVE6E0N at 2/3/2020 8:52:14 PM
+Build from DESKTOP-D8RUH2C at 2/11/2020 7:25:10 PM