From 131ffc9f3652c214d80c5fed63b4d54cd220404b Mon Sep 17 00:00:00 2001 From: andrej Date: Sat, 11 Feb 2023 10:11:56 +0100 Subject: [PATCH] Remove .meta files. Fix PointCloud messages. --- geometry_msgs/TwistMsg.cs.meta | 8 -- geometry_msgs/Vector3Msg.cs.meta | 8 -- sensor_msgs/CompressedImageMsg.cs.meta | 8 -- sensor_msgs/PointCloud2Msg.cs | 113 +++++++++++++++++------- sensor_msgs/PointCloudMsg.cs.meta | 12 --- sensor_msgs/PointFieldMsg.cs | 2 +- std_msgs/HeaderMsg.cs.meta | 8 -- std_msgs/Int32Msg.cs.meta | 8 -- std_msgs/Int32MultiArrayMsg.cs.meta | 8 -- std_msgs/Int64Msg.cs.meta | 8 -- std_msgs/Int64MultiArrayMsg.cs.meta | 8 -- std_msgs/Int8Msg.cs.meta | 8 -- std_msgs/Int8MultiArrayMsg.cs.meta | 8 -- std_msgs/MultiArrayDimensionMsg.cs.meta | 8 -- std_msgs/MultiArrayLayoutMsg.cs.meta | 8 -- std_msgs/StringMsg.cs.meta | 8 -- std_msgs/TimeMsg.cs.meta | 8 -- std_msgs/UInt16Msg.cs.meta | 8 -- std_msgs/UInt16MultiArrayMsg.cs.meta | 8 -- std_msgs/UInt32Msg.cs.meta | 8 -- std_msgs/UInt32MultiArrayMsg.cs.meta | 8 -- std_msgs/UInt64Msg.cs.meta | 8 -- std_msgs/UInt64MultiArrayMsg.cs.meta | 8 -- std_msgs/UInt8Msg.cs.meta | 8 -- std_msgs/UInt8MultiArrayMsg.cs.meta | 8 -- 25 files changed, 84 insertions(+), 219 deletions(-) delete mode 100644 geometry_msgs/TwistMsg.cs.meta delete mode 100644 geometry_msgs/Vector3Msg.cs.meta delete mode 100644 sensor_msgs/CompressedImageMsg.cs.meta mode change 100644 => 100755 sensor_msgs/PointCloud2Msg.cs delete mode 100644 sensor_msgs/PointCloudMsg.cs.meta delete mode 100644 std_msgs/HeaderMsg.cs.meta delete mode 100644 std_msgs/Int32Msg.cs.meta delete mode 100644 std_msgs/Int32MultiArrayMsg.cs.meta delete mode 100644 std_msgs/Int64Msg.cs.meta delete mode 100644 std_msgs/Int64MultiArrayMsg.cs.meta delete mode 100644 std_msgs/Int8Msg.cs.meta delete mode 100644 std_msgs/Int8MultiArrayMsg.cs.meta delete mode 100644 std_msgs/MultiArrayDimensionMsg.cs.meta delete mode 100644 std_msgs/MultiArrayLayoutMsg.cs.meta delete mode 100644 std_msgs/StringMsg.cs.meta delete mode 100644 std_msgs/TimeMsg.cs.meta delete mode 100644 std_msgs/UInt16Msg.cs.meta delete mode 100644 std_msgs/UInt16MultiArrayMsg.cs.meta delete mode 100644 std_msgs/UInt32Msg.cs.meta delete mode 100644 std_msgs/UInt32MultiArrayMsg.cs.meta delete mode 100644 std_msgs/UInt64Msg.cs.meta delete mode 100644 std_msgs/UInt64MultiArrayMsg.cs.meta delete mode 100644 std_msgs/UInt8Msg.cs.meta delete mode 100644 std_msgs/UInt8MultiArrayMsg.cs.meta diff --git a/geometry_msgs/TwistMsg.cs.meta b/geometry_msgs/TwistMsg.cs.meta deleted file mode 100644 index fcfbd96..0000000 --- a/geometry_msgs/TwistMsg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 144bc841f514642b78880081d813310e -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/geometry_msgs/Vector3Msg.cs.meta b/geometry_msgs/Vector3Msg.cs.meta deleted file mode 100644 index b9bd960..0000000 --- a/geometry_msgs/Vector3Msg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 98b84f18246784fae90cf8ffe694adb8 -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/sensor_msgs/CompressedImageMsg.cs.meta b/sensor_msgs/CompressedImageMsg.cs.meta deleted file mode 100644 index 947d3c3..0000000 --- a/sensor_msgs/CompressedImageMsg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 8c02188a407cc4aa3b04c21481619f78 -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/sensor_msgs/PointCloud2Msg.cs b/sensor_msgs/PointCloud2Msg.cs old mode 100644 new mode 100755 index b24ad1b..e47ebdd --- a/sensor_msgs/PointCloud2Msg.cs +++ b/sensor_msgs/PointCloud2Msg.cs @@ -2,11 +2,13 @@ using ROSBridgeLib.std_msgs; using UnityEngine; using PointCloud; +using System.Text; /** * Define a PointCloud2 message. * - * @author Miquel Massot Campos + * @author Miquel Massot Campos; Yuzhou Liu + * */ namespace ROSBridgeLib { @@ -28,29 +30,30 @@ public PointCloud2Msg(JSONNode msg) { _height = uint.Parse(msg ["height"]); _width = uint.Parse(msg ["width"]); _is_bigendian = msg["is_bigendian"].AsBool; - _is_dense = msg["is_dense"].AsBool; - _point_step = uint.Parse(msg ["point_step"]); - _row_step = uint.Parse(msg ["row_step"]); _fields = new PointFieldMsg[msg["fields"].Count]; for (int i = 0; i < _fields.Length; i++) { _fields[i] = new PointFieldMsg(msg["fields"][i]); } + _point_step = uint.Parse(msg["point_step"]); + _row_step = uint.Parse(msg["row_step"]); _data = System.Convert.FromBase64String(msg["data"]); - _cloud = ReadData(_data); - } + //_cloud = ReadData(_data); + _is_dense = msg["is_dense"].AsBool; + } - public PointCloud2Msg(HeaderMsg header, uint height, uint width, PointFieldMsg fields, bool is_bigendian, uint point_step, uint row_step, byte[] data, bool is_dense) { + public PointCloud2Msg(HeaderMsg header, uint height, uint width, PointFieldMsg[] fields, bool is_bigendian, uint point_step, uint row_step, byte[] data, bool is_dense) { _header = header; _height = height; _width = width; - //_fields = fields; - _is_dense = is_dense; + _fields = fields; _is_bigendian = is_bigendian; _point_step = point_step; _row_step = row_step; - _cloud = ReadData(data); - } + _data = data; + //_cloud = ReadData(data); + _is_dense = is_dense; + } private PointCloud ReadData(byte[] byteArray) { PointCloud cloud = new PointCloud (); @@ -89,9 +92,9 @@ public uint GetRowStep() { return _row_step; } - public PointCloud GetCloud() { - return _cloud; - } + //public PointCloud GetCloud() { + //return _cloud; + //} public static string GetMessageType() { return "sensor_msgs/PointCloud2"; @@ -99,25 +102,75 @@ public static string GetMessageType() { public override string ToString() { return "PointCloud2 [header=" + _header.ToString() + - "height=" + _height + - "width=" + _width + - //"fields=" + _fields.ToString() + - "is_bigendian=" + _is_bigendian + - "is_dense=" + _is_dense + - "point_step=" + _point_step + - "row_step=" + _row_step + "]"; + ", height=" + _height + + ", width=" + _width + + ", fields=" + _fields.ToString() + + ", is_bigendian=" + _is_bigendian + + ", point_step=" + _point_step + + ", row_step=" + _row_step + + ", data=" + _data.ToString() + + ", is_dense=" + _is_dense + "]"; } public override string ToYAMLString() { - return "{\"header\" :" + _header.ToYAMLString() + - "\"height\" :" + _height + - "\"width\" :" + _width + - //"\"fields\" :" + _fields.ToYAMLString() + - "\"is_bigendian\" :" + _is_bigendian + - "\"is_dense\" :" + _is_dense + - "\"point_step\" :" + _point_step + - "\"row_step\" :" + _row_step + "}"; + + string fields_array = "["; + for (int i = 0; i < _fields.Length; i++) + { + fields_array = fields_array + _fields[i].ToYAMLString(); + if (_fields.Length - i > 1) + fields_array += ","; + } + fields_array += "]"; + + /*string data_array = "["; + for (int i = 0; i < _data.Length; i++) + { + data_array = data_array + _data[i]; + if (_data.Length - i > 1) + data_array += ","; + } + data_array += "]";*/ + StringBuilder data_sb = new StringBuilder(); + data_sb.Append("["); + for (int i = 0; i < _data.Length; i++) + { + data_sb.Append(_data[i]); + if (_data.Length - i > 1) + data_sb.Append(","); + } + data_sb.Append("]"); + + string is_bigendian_string; + if (_is_bigendian == true){ + is_bigendian_string = "true"; + } + else{ + is_bigendian_string = "false"; + } + + string _is_dense_string; + if (_is_dense == true) + { + _is_dense_string = "true"; + } + else + { + _is_dense_string = "false"; + } + + + return "{\"header\" : " + _header.ToYAMLString() + + ", \"height\" : " + _height + + ", \"width\" : " + _width + + ", \"fields\" : " + fields_array + + ", \"is_bigendian\" : " + is_bigendian_string + + ", \"point_step\" : " + _point_step + + ", \"row_step\" : " + _row_step + + ", \"data\" : " + data_sb + + ", \"is_dense\" : " + _is_dense_string + + "}"; } } } -} +} \ No newline at end of file diff --git a/sensor_msgs/PointCloudMsg.cs.meta b/sensor_msgs/PointCloudMsg.cs.meta deleted file mode 100644 index 8d194e7..0000000 --- a/sensor_msgs/PointCloudMsg.cs.meta +++ /dev/null @@ -1,12 +0,0 @@ -fileFormatVersion: 2 -guid: 66ab4ccd5c6424c8dac92af09fac3865 -timeCreated: 1478107913 -licenseType: Free -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/sensor_msgs/PointFieldMsg.cs b/sensor_msgs/PointFieldMsg.cs index 8ff95f2..14f3137 100644 --- a/sensor_msgs/PointFieldMsg.cs +++ b/sensor_msgs/PointFieldMsg.cs @@ -61,7 +61,7 @@ public override string ToString() { } public override string ToYAMLString() { - return "{\"name\" : " + "\"" + _name + "\", \"offset\" : \"" + _offset + "\", \"datatype\" : " + _datatype + "\", \"count\" : " + _count + "}"; + return "{\"name\" : " + "\"" + _name + "\", \"offset\" : " + _offset + ", \"datatype\" : " + _datatype + ", \"count\" : " + _count + "}"; } } } diff --git a/std_msgs/HeaderMsg.cs.meta b/std_msgs/HeaderMsg.cs.meta deleted file mode 100644 index 1ab5201..0000000 --- a/std_msgs/HeaderMsg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: fa0fe1eb2d84b446cb2d6a6fbf1db200 -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/std_msgs/Int32Msg.cs.meta b/std_msgs/Int32Msg.cs.meta deleted file mode 100644 index 5c2aa5a..0000000 --- a/std_msgs/Int32Msg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 0ef1520a454fa45fe834e3be86741894 -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/std_msgs/Int32MultiArrayMsg.cs.meta b/std_msgs/Int32MultiArrayMsg.cs.meta deleted file mode 100644 index 586d599..0000000 --- a/std_msgs/Int32MultiArrayMsg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: e57b97b53daaf4d6ca28c9262c6f6d8e -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/std_msgs/Int64Msg.cs.meta b/std_msgs/Int64Msg.cs.meta deleted file mode 100644 index 5dbcc94..0000000 --- a/std_msgs/Int64Msg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 743786319cd014ab28877ecac648f928 -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/std_msgs/Int64MultiArrayMsg.cs.meta b/std_msgs/Int64MultiArrayMsg.cs.meta deleted file mode 100644 index b6cb2cb..0000000 --- a/std_msgs/Int64MultiArrayMsg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: fc8490e1e5930464db3f39f19961e411 -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/std_msgs/Int8Msg.cs.meta b/std_msgs/Int8Msg.cs.meta deleted file mode 100644 index 09811d5..0000000 --- a/std_msgs/Int8Msg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: f1b5d15e1fca94f89a85411243e23dba -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/std_msgs/Int8MultiArrayMsg.cs.meta b/std_msgs/Int8MultiArrayMsg.cs.meta deleted file mode 100644 index 76b83a8..0000000 --- a/std_msgs/Int8MultiArrayMsg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: c2fb16010ba544816b9e36d48a21536b -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/std_msgs/MultiArrayDimensionMsg.cs.meta b/std_msgs/MultiArrayDimensionMsg.cs.meta deleted file mode 100644 index b1d9b14..0000000 --- a/std_msgs/MultiArrayDimensionMsg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 85ab0af26ec6a463dab7c5c11a1dba0e -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/std_msgs/MultiArrayLayoutMsg.cs.meta b/std_msgs/MultiArrayLayoutMsg.cs.meta deleted file mode 100644 index 8867492..0000000 --- a/std_msgs/MultiArrayLayoutMsg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 3de29cf6939a848a0a0812ebffce65dc -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/std_msgs/StringMsg.cs.meta b/std_msgs/StringMsg.cs.meta deleted file mode 100644 index 004f753..0000000 --- a/std_msgs/StringMsg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 7e8c61b841a7d46e3b7bd73e5eb86eaf -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/std_msgs/TimeMsg.cs.meta b/std_msgs/TimeMsg.cs.meta deleted file mode 100644 index c06653f..0000000 --- a/std_msgs/TimeMsg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 94e73a3a573dc4a66acf242722389049 -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/std_msgs/UInt16Msg.cs.meta b/std_msgs/UInt16Msg.cs.meta deleted file mode 100644 index bc45003..0000000 --- a/std_msgs/UInt16Msg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 697e105079ef14549a9a4816d28a5f3d -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/std_msgs/UInt16MultiArrayMsg.cs.meta b/std_msgs/UInt16MultiArrayMsg.cs.meta deleted file mode 100644 index 9858451..0000000 --- a/std_msgs/UInt16MultiArrayMsg.cs.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 96cd231dcf0c44220a100d278c272e1b -MonoImporter: - 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