fix speed toggle logic and add icon

Author: ta9ma12

Assets/Images/ararobo.png

@@ -5426,15 +5426,15 @@ RectTransform:
   m_GameObject: {fileID: 772347503}
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
-  m_LocalScale: {x: 1.5, y: 1.5, z: 1.5}
-  m_ConstrainProportionsScale: 0
+  m_LocalScale: {x: 2, y: 2, z: 2}
+  m_ConstrainProportionsScale: 1
   m_Children:
   - {fileID: 1234748624}
   m_Father: {fileID: 886270497}
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 0.5, y: 0.5}
   m_AnchorMax: {x: 0.5, y: 0.5}
-  m_AnchoredPosition: {x: 0, y: -100}
+  m_AnchoredPosition: {x: 0, y: -150}
   m_SizeDelta: {x: 110, y: 110}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &772347505

Assets/Images/ararobo.png.meta

@@ -8,13 +8,12 @@ public class HoldManager : MonoBehaviour
 {
     private ROS2UnityComponent ros2Unity;
     private ROS2Node ros2Node;
-    private IPublisher<std_msgs.msg.Float32> hold_depth_pub; // トピック名を/upper_hand/depthに変更
+    private IPublisher<std_msgs.msg.Float32> hold_depth_pub;
+    private ISubscription<std_msgs.msg.Bool> cancel_hold_sub;
 
-    // ホールド速度の設定
     public float holdSpeed = 1.0f;
-    private bool isHolding = false; // ホールド状態を追跡するフラグ
+    private bool isHolding = false;
 
-    // UI要素の参照
     public Slider holdSpeedSlider;
     public TMPro.TextMeshProUGUI holdSpeedText;
     public Toggle holdToggleButton;
@@ -26,50 +25,47 @@ void Start()
             if (ros2Unity.Ok())
             {
                 ros2Node = ros2Unity.CreateNode("UnityHoldManagerNode");
-                // /upper_hand/depthトピックにパブリッシュするように修正
                 hold_depth_pub = ros2Node.CreatePublisher<std_msgs.msg.Float32>("/phone/upper_hand/depth");
+
+                cancel_hold_sub = ros2Node.CreateSubscription<std_msgs.msg.Bool>(
+                    "/cancel_hold",
+                    msg => OnCancelHoldReceived(msg)
+                );
             }
         }
         else
         {
             Debug.LogError("ROS2UnityComponent not found on this GameObject.");
         }
 
-        // ホールド速度スライダーの設定
         if (holdSpeedSlider != null)
         {
             holdSpeedSlider.value = holdSpeed;
             holdSpeedSlider.onValueChanged.AddListener(OnHoldSpeedSliderChanged);
-            OnHoldSpeedSliderChanged(holdSpeedSlider.value); // 初期値をテキストに反映
+            OnHoldSpeedSliderChanged(holdSpeedSlider.value);
         }
 
-        // ホールドトグルの設定
         if (holdToggleButton != null)
         {
             holdToggleButton.onValueChanged.AddListener(OnHoldToggleChanged);
         }
     }
 
-    /// <summary>
-    /// ホールド速度を毎フレームパブリッシュする
-    /// </summary>
     void Update()
     {
         if (isHolding)
         {
-            // ROS2が初期化されているかチェック
             if (ros2Unity != null && ros2Unity.Ok() && ros2Node != null && hold_depth_pub != null)
             {
-                std_msgs.msg.Float32 msg = new std_msgs.msg.Float32();
-                msg.Data = -holdSpeed; // ホールドは常に負の値
+                std_msgs.msg.Float32 msg = new std_msgs.msg.Float32
+                {
+                    Data = -holdSpeed
+                };
                 hold_depth_pub.Publish(msg);
             }
         }
     }
 
-    /// <summary>
-    /// ホールド速度スライダーの値が変更されたときに呼び出されるメソッド
-    /// </summary>
     private void OnHoldSpeedSliderChanged(float value)
     {
         holdSpeed = value;
@@ -79,27 +75,31 @@ private void OnHoldSpeedSliderChanged(float value)
         }
     }
 
-    /// <summary>
-    /// ホールドトグルの状態が変更されたときに呼び出されるメソッド
-    /// </summary>
     public void OnHoldToggleChanged(bool isOn)
     {
-        isHolding = isOn; // ホールド状態フラグを更新
+        isHolding = isOn;
 
         if (!isOn)
         {
-            // トグルがオフになった場合、速度0を1回だけパブリッシュして停止を指示
             if (ros2Unity != null && ros2Unity.Ok() && ros2Node != null && hold_depth_pub != null)
             {
-                std_msgs.msg.Float32 msg = new std_msgs.msg.Float32();
-                msg.Data = 0.0f;
+                std_msgs.msg.Float32 msg = new std_msgs.msg.Float32
+                {
+                    Data = 0.0f
+                };
                 hold_depth_pub.Publish(msg);
-                Debug.Log("Hold disabled. Publishing speed: 0.0");
             }
         }
-        else
+    }
+
+    private void OnCancelHoldReceived(std_msgs.msg.Bool msg)
+    {
+        if (msg.Data && isHolding)
         {
-            Debug.Log($"Hold enabled. The speed will be published in Update().");
+            if (holdToggleButton != null)
+            {
+                holdToggleButton.isOn = false;
+            }
         }
     }
 }

Assets/Scenes/SampleScene.unity

@@ -11,6 +11,7 @@ public class JoyController : MonoBehaviour
     private ROS2UnityComponent ros2Unity;
     private ROS2Node ros2Node;
     private IPublisher<geometry_msgs.msg.Twist> twist_pub;
+    private IPublisher<std_msgs.msg.Bool> speed_pub;
     private IPublisher<std_msgs.msg.Bool> accel_pub;
 
     // 速度調整用のパブリック変数
@@ -45,6 +46,7 @@ void Start()
             {
                 ros2Node = ros2Unity.CreateNode("UnityJoyNode");
                 twist_pub = ros2Node.CreatePublisher<geometry_msgs.msg.Twist>("/phone/cmd_vel");
+                speed_pub = ros2Node.CreatePublisher<std_msgs.msg.Bool>("/phone/low_speed");
                 accel_pub = ros2Node.CreatePublisher<std_msgs.msg.Bool>("/phone/low_accel");
             }
         }
@@ -126,7 +128,7 @@ void Update()
     /// <param name="isOn">トグルの新しい状態</param>
     public void OnAccelToggleChanged(bool isOn)
     {
-        if (ros2Unity == null || !ros2Unity.Ok() || ros2Node == null || accel_pub == null)
+        if (ros2Unity == null || !ros2Unity.Ok() || ros2Node == null || accel_pub == null || speed_pub == null)
         {
             Debug.LogWarning("ROS2 is not initialized. Cannot publish acceleration message.");
             return;
@@ -135,6 +137,7 @@ public void OnAccelToggleChanged(bool isOn)
         std_msgs.msg.Bool msg = new std_msgs.msg.Bool();
         msg.Data = isOn;
 
+        speed_pub.Publish(msg);
         accel_pub.Publish(msg);
         Debug.Log($"Published acceleration toggle state: {msg.Data}");
     }