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scottwillmoorescottwillmoore
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Add ability to view camera images in VR
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+146
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‎unity/Assets/Fetch VR/Scenes/Fetch VR.unity

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‎unity/Assets/Fetch VR/Scripts/Behaviours/CompressedImageViewer.cs

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@@ -0,0 +1,26 @@
1+
using RosMessageTypes.Sensor;
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using Unity.Robotics.ROSTCPConnector.MessageGeneration;
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using Unity.Robotics.ROSTCPConnector;
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using UnityEngine.UI;
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using UnityEngine;
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public class CompressedImageViewer : MonoBehaviour
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{
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[SerializeField] private string compressedImageTopic;
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private RawImage rawImage;
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private ROSConnection rosConnection;
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public void Start()
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{
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rawImage = gameObject.GetComponent<RawImage>();
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Debug.Assert(rawImage != null);
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rosConnection = ROSConnection.GetOrCreateInstance();
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rosConnection.Subscribe<CompressedImageMsg>(compressedImageTopic, (compressedImage) =>
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{
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rawImage.texture = compressedImage.ToTexture2D();
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});
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}
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}

‎unity/Assets/Fetch VR/Scripts/Behaviours/CompressedImageViewer.cs.meta

+11
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‎unity/Assets/Fetch VR/Scripts/Behaviours/MoveGroupController.cs

+3-3
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@@ -141,9 +141,9 @@ private void PlanTrajectory()
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case ResultState.Rejected:
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state = State.HasFailedPlan;
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var errorId = result.error_code.val;
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var errorMessage = result.error_code.GetErrorMessage();
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feedbackText.text = $"Plan has failed: {errorMessage}!";
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// var errorId = result.error_code.val;
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// var errorMessage = result.error_code.GetErrorMessage();
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feedbackText.text = "Plan has failed!";
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tintColor = Color.red;
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tintColor.a = 0.5f;

‎unity/Assets/Fetch VR/Scripts/Extensions/ROSExtensions.cs

+1-1
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@@ -49,7 +49,7 @@ public static string GetErrorMessage(this MoveItErrorCodesMsg errorMessage)
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MoveItErrorCodesMsg.INVALID_ROBOT_STATE => "Invalid robot state",
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MoveItErrorCodesMsg.MOTION_PLAN_INVALIDATED_BY_ENVIRONMENT_CHANGE => "Motion plan invalidated by environment change",
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MoveItErrorCodesMsg.NO_IK_SOLUTION => "No IK solution",
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MoveItErrorCodesMsg.PLANNING_FAILED => "Planning failed",
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MoveItErrorCodesMsg.PLANNING_FAILED => "Planning has failed",
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MoveItErrorCodesMsg.PREEMPTED => "Preempted",
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MoveItErrorCodesMsg.ROBOT_STATE_STALE => "Robot state stale",
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MoveItErrorCodesMsg.SENSOR_INFO_STALE => "Sensor info stale",

‎unity/Assets/Fetch VR/Scripts/Robotics/ROSActionClient.cs

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@@ -176,8 +176,6 @@ private void HandleStatus(GoalStatusArrayMsg goalStatusArray)
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private void HandleTransition(GoalState previousState, GoalTransition goalTransition, GoalState newState)
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{
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Debug.Log($"{previousState.ToString()} {goalTransition.ToString()} {newState.ToString()}");
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goalState = newState;
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switch (goalState)

‎unity/Assets/Resources/ROSConnectionPrefab.prefab

+1-1
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m_Name:
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m_RosIPAddress: 192.168.1.4
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m_RosIPAddress: 192.168.1.7
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m_RosPort: 10000
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m_ConnectOnStart: 1
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m_KeepaliveTime: 1

‎unity/Packages/manifest.json

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@@ -4,6 +4,7 @@
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"com.unity.ide.rider": "2.0.7",
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"com.unity.ide.visualstudio": "2.0.14",
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"com.unity.ide.vscode": "1.2.5",
7+
"com.unity.recorder": "2.5.7",
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"com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer",
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"com.unity.robotics.visualizations": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.visualizations",

‎unity/Packages/packages-lock.json

+9
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@@ -57,6 +57,15 @@
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},
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},
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"url": "https://packages.unity.com"
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},
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"version": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector",
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"depth": 0,

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