[Joana] Smaller bug fixes, new tendon examples

Roboy · Jan 23, 2018 · efbb8ef · efbb8ef
1 parent 088f6b3
commit efbb8ef
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Showing 13 changed files with 537 additions and 225 deletions.
diff --git a/00_sphinx_documentation/documentation/Usage/1_getting_started.rst b/00_sphinx_documentation/documentation/Usage/1_getting_started.rst
@@ -3,11 +3,12 @@ Getting started
 
 Part 1: Run rosbridge and roboySimulation
 -----------------------------------------
+In case you need to change the port on which you want to operate (e.g. because it is already in use), adapt the value of the following command and make sure to also change the value in the Unity scene. 
 
 .. code:: bash
 
   source path-to-roboy-ros-control/devel.setup.bash
-  roslaunch rosbridge_server rosbridge_websocket.launch
+  roslaunch rosbridge_server rosbridge_websocket.launch port:=9090
   rosrun roboy_simulation VRRoboy
   
 Part 2: Open the project in Unity

diff --git a/Assets/Prefabs/Tools/HandTool.prefab b/Assets/Prefabs/Tools/HandTool.prefab
@@ -85,7 +85,7 @@ MeshFilter:
   m_PrefabParentObject: {fileID: 0}
   m_PrefabInternal: {fileID: 100100000}
   m_GameObject: {fileID: 1871798522809786}
-  m_Mesh: {fileID: 0}
+  m_Mesh: {fileID: 4300000, guid: 3149e51e0ed38f04084995d296238179, type: 3}
 --- !u!114 &114015195755441830
 MonoBehaviour:
   m_ObjectHideFlags: 1
@@ -122,6 +122,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   m_RightHandMesh: {fileID: 4300000, guid: 3149e51e0ed38f04084995d296238179, type: 3}
   m_LeftHandMesh: {fileID: 4300000, guid: 8e64d726bddfc614c890668110295789, type: 3}
+  m_PullForceFactor: 1000
   m_RayDistance: 0.3
 --- !u!114 &114984493035044586
 MonoBehaviour:

diff --git a/Assets/ROSBridgeLib/ROSBridgeWebSocketConnection.cs b/Assets/ROSBridgeLib/ROSBridgeWebSocketConnection.cs
@@ -173,8 +173,8 @@ public void AddSubscriber(Type subscriber)
             //Multiple subscribers for the same topic possible
             IsValidSubscriber(subscriber);
             _subscribers.Add(subscriber);
-
             string topic = GetMessageTopic(subscriber);
+
             if (_running)
             {
                 //only announce if not announced yet, 
@@ -246,7 +246,7 @@ public void RemovePublisher(Type publisher)
                 //if we hvae no more publishers on this topic
                 if (!m_AnnouncedTopics.Contains(topic))
                 {
-                    Debug.Log("[ROS WEBSOCKET] not announcing anymore on: " + topic);
+                    //Debug.Log("[ROS WEBSOCKET] not announcing anymore on: " + topic);
                     _ws.Send(ROSBridgeMsg.UnAdvertise(topic));
                 }
             }
@@ -296,7 +296,7 @@ public void Disconnect()
                 //if no more advertiser on this topic
                 if (!m_AnnouncedTopics.Contains(topic))
                 {
-                    Debug.Log("[ROS WEBSOCKET] not publishing on topic: " + topic);
+                    //Debug.Log("[ROS WEBSOCKET] not publishing on topic: " + topic);
                     _ws.Send(ROSBridgeMsg.UnAdvertise(topic));
                 }
             }

diff --git a/Assets/ROSBridgeLibExtension/suscriber/PaBiPoseSubscriber.cs b/Assets/ROSBridgeLibExtension/suscriber/PaBiPoseSubscriber.cs
@@ -7,12 +7,12 @@ public class PaBiPoseSubscriber : ROSBridgeSubscriber
     {
         public new static string GetMessageTopic()
         {
-            return "roboy/simulation/pabi_pose";
+            return "/roboy/simulation/PaBiRoboy_demo_simplified_pose";
         }
 
         public new static string GetMessageType()
         {
-            return "roboy_communication_middleware/Pose";
+            return "/roboy_communication_middleware/Pose";
         }
 
         public new static ROSBridgeMsg ParseMessage(JSONNode msg)

diff --git a/Assets/ROSBridgeLibExtension/suscriber/RoboyPoseSubscriber.cs b/Assets/ROSBridgeLibExtension/suscriber/RoboyPoseSubscriber.cs
@@ -1,6 +1,6 @@
 using SimpleJSON;
 using ROSBridgeLib.custom_msgs;
-
+using UnityEngine;
 namespace ROSBridgeLib
 {
     public class RoboyPoseSubscriber : ROSBridgeSubscriber
@@ -14,7 +14,7 @@ public new static string GetMessageTopic()
 
         public new static string GetMessageType()
         {
-            return "roboy_communication_middleware/Pose";
+            return "/roboy_communication_middleware/Pose";
         }
 
         public new static ROSBridgeMsg ParseMessage(JSONNode msg)