From 39088cd48c2d4697a924563dd0bd20a987401574 Mon Sep 17 00:00:00 2001 From: LaurieCheers <73140792+LaurieCheers-unity@users.noreply.github.com> Date: Thu, 30 Sep 2021 16:43:04 -0700 Subject: [PATCH] Updated scripts to run 0.6.0 --- tutorials/ros_unity_integration/publisher.md | 4 ++-- tutorials/ros_unity_integration/service_call.md | 6 +++--- tutorials/ros_unity_integration/subscriber.md | 2 +- .../unity_scripts/RosPublisherExample.cs | 4 ++-- .../unity_scripts/RosServiceCallExample.cs | 6 +++--- .../unity_scripts/RosSubscriberExample.cs | 2 +- .../unity_scripts/RosUnityServiceExample.cs | 2 +- tutorials/ros_unity_integration/unity_service.md | 2 +- 8 files changed, 14 insertions(+), 14 deletions(-) diff --git a/tutorials/ros_unity_integration/publisher.md b/tutorials/ros_unity_integration/publisher.md index 9c3421b3..27de4f66 100644 --- a/tutorials/ros_unity_integration/publisher.md +++ b/tutorials/ros_unity_integration/publisher.md @@ -36,7 +36,7 @@ public class RosPublisherExample : MonoBehaviour void Start() { // start the ROS connection - ros = ROSConnection.instance; + ros = ROSConnection.GetOrCreateInstance(); ros.RegisterPublisher(topicName); } @@ -59,7 +59,7 @@ public class RosPublisherExample : MonoBehaviour ); // Finally send the message to server_endpoint.py running in ROS - ros.Send(topicName, cubePos); + ros.Publish(topicName, cubePos); timeElapsed = 0; } diff --git a/tutorials/ros_unity_integration/service_call.md b/tutorials/ros_unity_integration/service_call.md index 299737b1..cb399927 100644 --- a/tutorials/ros_unity_integration/service_call.md +++ b/tutorials/ros_unity_integration/service_call.md @@ -30,9 +30,9 @@ Create a simple Unity scene which calls an external [ROS service](http://wiki.ro - (Alternatively, you can drag the script file into Unity from `tutorials/ros_unity_integration/unity_scripts`). ```csharp +using RosMessageTypes.UnityRoboticsDemo; using UnityEngine; using Unity.Robotics.ROSTCPConnector; -using RosMessageTypes.UnityRoboticsDemo; public class RosServiceCallExample : MonoBehaviour { @@ -51,8 +51,8 @@ public class RosServiceCallExample : MonoBehaviour void Start() { - ros = ROSConnection.instance; - ros.RegisterRosService(serviceName); + ros = ROSConnection.GetOrCreateInstance(); + ros.RegisterRosService(serviceName); destination = cube.transform.position; } diff --git a/tutorials/ros_unity_integration/subscriber.md b/tutorials/ros_unity_integration/subscriber.md index 5efea233..4bb40199 100644 --- a/tutorials/ros_unity_integration/subscriber.md +++ b/tutorials/ros_unity_integration/subscriber.md @@ -22,7 +22,7 @@ public class RosSubscriberExample : MonoBehaviour void Start() { - ROSConnection.instance.Subscribe("color", ColorChange); + ROSConnection.GetOrCreateInstance().Subscribe("color", ColorChange); } void ColorChange(RosColor colorMessage) diff --git a/tutorials/ros_unity_integration/unity_scripts/RosPublisherExample.cs b/tutorials/ros_unity_integration/unity_scripts/RosPublisherExample.cs index c65452be..664634a2 100644 --- a/tutorials/ros_unity_integration/unity_scripts/RosPublisherExample.cs +++ b/tutorials/ros_unity_integration/unity_scripts/RosPublisherExample.cs @@ -21,7 +21,7 @@ public class RosPublisherExample : MonoBehaviour void Start() { // start the ROS connection - ros = ROSConnection.instance; + ros = ROSConnection.GetOrCreateInstance(); ros.RegisterPublisher(topicName); } @@ -44,7 +44,7 @@ private void Update() ); // Finally send the message to server_endpoint.py running in ROS - ros.Send(topicName, cubePos); + ros.Publish(topicName, cubePos); timeElapsed = 0; } diff --git a/tutorials/ros_unity_integration/unity_scripts/RosServiceCallExample.cs b/tutorials/ros_unity_integration/unity_scripts/RosServiceCallExample.cs index ea15ed96..7a9c30f6 100644 --- a/tutorials/ros_unity_integration/unity_scripts/RosServiceCallExample.cs +++ b/tutorials/ros_unity_integration/unity_scripts/RosServiceCallExample.cs @@ -2,7 +2,7 @@ using UnityEngine; using Unity.Robotics.ROSTCPConnector; -public class RosServiceExample : MonoBehaviour +public class RosServiceCallExample : MonoBehaviour { ROSConnection ros; @@ -19,8 +19,8 @@ public class RosServiceExample : MonoBehaviour void Start() { - ros = ROSConnection.instance; - ros.RegisterRosService(serviceName); + ros = ROSConnection.GetOrCreateInstance(); + ros.RegisterRosService(serviceName); destination = cube.transform.position; } diff --git a/tutorials/ros_unity_integration/unity_scripts/RosSubscriberExample.cs b/tutorials/ros_unity_integration/unity_scripts/RosSubscriberExample.cs index 4e1addd9..d4e88f9b 100644 --- a/tutorials/ros_unity_integration/unity_scripts/RosSubscriberExample.cs +++ b/tutorials/ros_unity_integration/unity_scripts/RosSubscriberExample.cs @@ -8,7 +8,7 @@ public class RosSubscriberExample : MonoBehaviour void Start() { - ROSConnection.instance.Subscribe("color", ColorChange); + ROSConnection.GetOrCreateInstance().Subscribe("color", ColorChange); } void ColorChange(RosColor colorMessage) diff --git a/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs b/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs index 76ef4296..ce59d8d3 100644 --- a/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs +++ b/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs @@ -14,7 +14,7 @@ public class RosUnityServiceExample : MonoBehaviour void Start() { // register the service with ROS - ROSConnection.instance.ImplementService(m_ServiceName, GetObjectPose); + ROSConnection.GetOrCreateInstance().ImplementService(m_ServiceName, GetObjectPose); } /// diff --git a/tutorials/ros_unity_integration/unity_service.md b/tutorials/ros_unity_integration/unity_service.md index 68821934..e13626a0 100644 --- a/tutorials/ros_unity_integration/unity_service.md +++ b/tutorials/ros_unity_integration/unity_service.md @@ -28,7 +28,7 @@ public class RosUnityServiceExample : MonoBehaviour void Start() { // register the service with ROS - ROSConnection.instance.ImplementService(m_ServiceName, GetObjectPose); + ROSConnection.GetOrCreateInstance().ImplementService(m_ServiceName, GetObjectPose); } ///