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ta9ma12ta9ma12
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fix hold
1 parent aac1d46 commit 75ef135

4 files changed

Lines changed: 147 additions & 18 deletions

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‎Assets/Resources.meta‎

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This file was deleted.

‎Assets/Scenes/SampleScene.unity‎

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@@ -2056,7 +2056,7 @@ RectTransform:
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m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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m_AnchorMin: {x: 0.5, y: 0.5}
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m_AnchorMax: {x: 0.5, y: 0.5}
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m_AnchoredPosition: {x: 725, y: 380}
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m_AnchoredPosition: {x: 800, y: 400}
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m_SizeDelta: {x: 150, y: 150}
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m_Pivot: {x: 0.5, y: 0.5}
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--- !u!114 &295888028
@@ -2743,7 +2743,7 @@ MonoBehaviour:
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m_Direction: 0
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m_MinValue: 0
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m_MaxValue: 10
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m_WholeNumbers: 0
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m_WholeNumbers: 1
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m_Value: 0
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m_OnValueChanged:
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m_PersistentCalls:
@@ -4799,7 +4799,7 @@ RectTransform:
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m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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m_AnchorMin: {x: 0.5, y: 0.5}
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m_AnchorMax: {x: 0.5, y: 0.5}
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m_AnchoredPosition: {x: 725, y: 380}
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m_AnchoredPosition: {x: 800, y: 400}
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m_SizeDelta: {x: 150, y: 150}
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m_Pivot: {x: 0.5, y: 0.5}
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--- !u!114 &715360077
@@ -5158,6 +5158,8 @@ GameObject:
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m_Component:
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- component: {fileID: 772347504}
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- component: {fileID: 772347505}
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- component: {fileID: 772347507}
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- component: {fileID: 772347506}
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m_Layer: 5
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m_Name: HoldToggle_auto
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m_TagString: Untagged
@@ -5233,6 +5235,34 @@ MonoBehaviour:
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m_PersistentCalls:
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m_Calls: []
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m_IsOn: 0
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--- !u!114 &772347506
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MonoBehaviour:
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m_ObjectHideFlags: 0
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m_CorrespondingSourceObject: {fileID: 0}
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_EditorHideFlags: 0
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m_Script: {fileID: 11500000, guid: af3ffe20b45cee642a9c0cd82f4ef59d, type: 3}
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m_Name:
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m_EditorClassIdentifier:
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holdSpeed: 1
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holdSpeedSlider: {fileID: 1887006598}
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holdSpeedText: {fileID: 38190623}
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holdToggleButton: {fileID: 772347505}
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--- !u!114 &772347507
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MonoBehaviour:
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m_ObjectHideFlags: 0
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m_CorrespondingSourceObject: {fileID: 0}
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 772347503}
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m_Enabled: 1
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m_EditorHideFlags: 0
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m_Script: {fileID: 11500000, guid: feab04ad06492965492b3edc6423aa53, type: 3}
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m_Name:
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m_EditorClassIdentifier:
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--- !u!1 &777058406
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GameObject:
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@@ -5602,7 +5632,7 @@ MonoBehaviour:
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m_Direction: 0
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m_MinValue: 0
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m_MaxValue: 10
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m_WholeNumbers: 0
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m_WholeNumbers: 1
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m_Value: 0
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m_OnValueChanged:
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m_PersistentCalls:
@@ -7900,8 +7930,8 @@ MonoBehaviour:
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m_HandleRect: {fileID: 1506478503}
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m_Direction: 0
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m_MinValue: 0
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m_MaxValue: 30
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m_WholeNumbers: 1
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m_Value: 0
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m_PersistentCalls:
@@ -8906,7 +8936,7 @@ MonoBehaviour:
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m_MinValue: 0
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m_MaxValue: 20
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m_WholeNumbers: 0
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m_WholeNumbers: 1
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m_OnValueChanged:
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m_PersistentCalls:
@@ -10457,8 +10487,8 @@ MonoBehaviour:
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m_MinValue: 0
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m_WholeNumbers: 1
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m_OnValueChanged:
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m_PersistentCalls:
@@ -12222,7 +12252,7 @@ MonoBehaviour:
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m_Direction: 0
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m_MinValue: 0
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m_MaxValue: 10
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m_WholeNumbers: 0
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m_Value: 0
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m_OnValueChanged:
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m_PersistentCalls:

‎Assets/Scripts/HoldManager.cs‎

Lines changed: 105 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,105 @@
1+
using UnityEngine;
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using UnityEngine.UI;
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using ROS2;
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using std_msgs.msg;
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using TMPro;
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public class HoldManager : MonoBehaviour
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{
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private ROS2UnityComponent ros2Unity;
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private ROS2Node ros2Node;
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private IPublisher<std_msgs.msg.Float32> hold_depth_pub; // トピック名を/upper_hand/depthに変更
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// ホールド速度の設定
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public float holdSpeed = 1.0f;
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private bool isHolding = false; // ホールド状態を追跡するフラグ
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// UI要素の参照
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public Slider holdSpeedSlider;
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public TMPro.TextMeshProUGUI holdSpeedText;
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public Toggle holdToggleButton;
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void Start()
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{
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if (TryGetComponent(out ros2Unity))
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{
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if (ros2Unity.Ok())
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{
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ros2Node = ros2Unity.CreateNode("UnityHoldManagerNode");
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// /upper_hand/depthトピックにパブリッシュするように修正
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hold_depth_pub = ros2Node.CreatePublisher<std_msgs.msg.Float32>("/upper_hand/depth");
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}
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}
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else
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{
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Debug.LogError("ROS2UnityComponent not found on this GameObject.");
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}
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// ホールド速度スライダーの設定
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if (holdSpeedSlider != null)
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{
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holdSpeedSlider.value = holdSpeed;
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holdSpeedSlider.onValueChanged.AddListener(OnHoldSpeedSliderChanged);
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OnHoldSpeedSliderChanged(holdSpeedSlider.value); // 初期値をテキストに反映
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}
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// ホールドトグルの設定
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if (holdToggleButton != null)
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{
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holdToggleButton.onValueChanged.AddListener(OnHoldToggleChanged);
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}
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}
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/// <summary>
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/// ホールド速度を毎フレームパブリッシュする
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/// </summary>
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void Update()
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{
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if (isHolding)
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{
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// ROS2が初期化されているかチェック
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if (ros2Unity != null && ros2Unity.Ok() && ros2Node != null && hold_depth_pub != null)
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{
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std_msgs.msg.Float32 msg = new std_msgs.msg.Float32();
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msg.Data = -holdSpeed; // ホールドは常に負の値
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hold_depth_pub.Publish(msg);
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}
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}
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}
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/// <summary>
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/// 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
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/// </summary>
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private void OnHoldSpeedSliderChanged(float value)
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{
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holdSpeed = value;
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if (holdSpeedText != null)
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{
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holdSpeedText.text = holdSpeed.ToString("F2");
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}
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}
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/// <summary>
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/// 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
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/// </summary>
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public void OnHoldToggleChanged(bool isOn)
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{
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isHolding = isOn; // ホールド状態フラグを更新
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if (!isOn)
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{
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// 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
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if (ros2Unity != null && ros2Unity.Ok() && ros2Node != null && hold_depth_pub != null)
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{
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std_msgs.msg.Float32 msg = new std_msgs.msg.Float32();
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msg.Data = 0.0f;
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hold_depth_pub.Publish(msg);
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Debug.Log("Hold disabled. Publishing speed: 0.0");
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}
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}
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else
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{
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Debug.Log($"Hold enabled. The speed will be published in Update().");
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}
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}
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}

‎Assets/Scripts/HoldManager.cs.meta‎

Lines changed: 2 additions & 0 deletions
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