Class ZOROSUnityManager

Manage ROS with Unity specific functionality.

Inheritance
System.Object
UnityEngine.Object
UnityEngine.Component
UnityEngine.Behaviour
UnityEngine.MonoBehaviour
ZOROSUnityManager
Inherited Members
UnityEngine.MonoBehaviour.IsInvoking()
UnityEngine.MonoBehaviour.CancelInvoke()
UnityEngine.MonoBehaviour.Invoke(System.String, System.Single)
UnityEngine.MonoBehaviour.InvokeRepeating(System.String, System.Single, System.Single)
UnityEngine.MonoBehaviour.CancelInvoke(System.String)
UnityEngine.MonoBehaviour.IsInvoking(System.String)
UnityEngine.MonoBehaviour.StartCoroutine(System.String)
UnityEngine.MonoBehaviour.StartCoroutine(System.String, System.Object)
UnityEngine.MonoBehaviour.StartCoroutine(System.Collections.IEnumerator)
UnityEngine.MonoBehaviour.StartCoroutine_Auto(System.Collections.IEnumerator)
UnityEngine.MonoBehaviour.StopCoroutine(System.Collections.IEnumerator)
UnityEngine.MonoBehaviour.StopCoroutine(UnityEngine.Coroutine)
UnityEngine.MonoBehaviour.StopCoroutine(System.String)
UnityEngine.MonoBehaviour.StopAllCoroutines()
UnityEngine.MonoBehaviour.print(System.Object)
UnityEngine.MonoBehaviour.useGUILayout
UnityEngine.MonoBehaviour.runInEditMode
UnityEngine.Behaviour.enabled
UnityEngine.Behaviour.isActiveAndEnabled
UnityEngine.Component.GetComponent(System.Type)
UnityEngine.Component.GetComponent<T>()
UnityEngine.Component.TryGetComponent(System.Type, UnityEngine.Component)
UnityEngine.Component.TryGetComponent<T>(T)
UnityEngine.Component.GetComponent(System.String)
UnityEngine.Component.GetComponentInChildren(System.Type, System.Boolean)
UnityEngine.Component.GetComponentInChildren(System.Type)
UnityEngine.Component.GetComponentInChildren<T>(System.Boolean)
UnityEngine.Component.GetComponentInChildren<T>()
UnityEngine.Component.GetComponentsInChildren(System.Type, System.Boolean)
UnityEngine.Component.GetComponentsInChildren(System.Type)
UnityEngine.Component.GetComponentsInChildren<T>(System.Boolean)
UnityEngine.Component.GetComponentsInChildren<T>(System.Boolean, System.Collections.Generic.List<T>)
UnityEngine.Component.GetComponentsInChildren<T>()
UnityEngine.Component.GetComponentsInChildren<T>(System.Collections.Generic.List<T>)
UnityEngine.Component.GetComponentInParent(System.Type)
UnityEngine.Component.GetComponentInParent<T>()
UnityEngine.Component.GetComponentsInParent(System.Type, System.Boolean)
UnityEngine.Component.GetComponentsInParent(System.Type)
UnityEngine.Component.GetComponentsInParent<T>(System.Boolean)
UnityEngine.Component.GetComponentsInParent<T>(System.Boolean, System.Collections.Generic.List<T>)
UnityEngine.Component.GetComponentsInParent<T>()
UnityEngine.Component.GetComponents(System.Type)
UnityEngine.Component.GetComponents(System.Type, System.Collections.Generic.List<UnityEngine.Component>)
UnityEngine.Component.GetComponents<T>(System.Collections.Generic.List<T>)
UnityEngine.Component.GetComponents<T>()
UnityEngine.Component.CompareTag(System.String)
UnityEngine.Component.SendMessageUpwards(System.String, System.Object, UnityEngine.SendMessageOptions)
UnityEngine.Component.SendMessageUpwards(System.String, System.Object)
UnityEngine.Component.SendMessageUpwards(System.String)
UnityEngine.Component.SendMessageUpwards(System.String, UnityEngine.SendMessageOptions)
UnityEngine.Component.SendMessage(System.String, System.Object)
UnityEngine.Component.SendMessage(System.String)
UnityEngine.Component.SendMessage(System.String, System.Object, UnityEngine.SendMessageOptions)
UnityEngine.Component.SendMessage(System.String, UnityEngine.SendMessageOptions)
UnityEngine.Component.BroadcastMessage(System.String, System.Object, UnityEngine.SendMessageOptions)
UnityEngine.Component.BroadcastMessage(System.String, System.Object)
UnityEngine.Component.BroadcastMessage(System.String)
UnityEngine.Component.BroadcastMessage(System.String, UnityEngine.SendMessageOptions)
UnityEngine.Component.transform
UnityEngine.Component.gameObject
UnityEngine.Component.tag
UnityEngine.Object.GetInstanceID()
UnityEngine.Object.GetHashCode()
UnityEngine.Object.Equals(System.Object)
UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Vector3, UnityEngine.Quaternion)
UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Vector3, UnityEngine.Quaternion, UnityEngine.Transform)
UnityEngine.Object.Instantiate(UnityEngine.Object)
UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Transform)
UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Transform, System.Boolean)
UnityEngine.Object.Instantiate<T>(T)
UnityEngine.Object.Instantiate<T>(T, UnityEngine.Vector3, UnityEngine.Quaternion)
UnityEngine.Object.Instantiate<T>(T, UnityEngine.Vector3, UnityEngine.Quaternion, UnityEngine.Transform)
UnityEngine.Object.Instantiate<T>(T, UnityEngine.Transform)
UnityEngine.Object.Instantiate<T>(T, UnityEngine.Transform, System.Boolean)
UnityEngine.Object.Destroy(UnityEngine.Object, System.Single)
UnityEngine.Object.Destroy(UnityEngine.Object)
UnityEngine.Object.DestroyImmediate(UnityEngine.Object, System.Boolean)
UnityEngine.Object.DestroyImmediate(UnityEngine.Object)
UnityEngine.Object.FindObjectsOfType(System.Type)
UnityEngine.Object.FindObjectsOfType(System.Type, System.Boolean)
UnityEngine.Object.DontDestroyOnLoad(UnityEngine.Object)
UnityEngine.Object.DestroyObject(UnityEngine.Object, System.Single)
UnityEngine.Object.DestroyObject(UnityEngine.Object)
UnityEngine.Object.FindSceneObjectsOfType(System.Type)
UnityEngine.Object.FindObjectsOfTypeIncludingAssets(System.Type)
UnityEngine.Object.FindObjectsOfType<T>()
UnityEngine.Object.FindObjectsOfType<T>(System.Boolean)
UnityEngine.Object.FindObjectOfType<T>()
UnityEngine.Object.FindObjectOfType<T>(System.Boolean)
UnityEngine.Object.FindObjectsOfTypeAll(System.Type)
UnityEngine.Object.FindObjectOfType(System.Type)
UnityEngine.Object.FindObjectOfType(System.Type, System.Boolean)
UnityEngine.Object.ToString()
UnityEngine.Object.name
UnityEngine.Object.hideFlags
System.Object.Equals(System.Object, System.Object)
System.Object.GetType()
System.Object.MemberwiseClone()
System.Object.ReferenceEquals(System.Object, System.Object)
Namespace: ZO.ROS.Unity
Assembly: Unity.ZeroSim.dll
Syntax
[ExecuteAlways]
public class ZOROSUnityManager : MonoBehaviour

Fields

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_launchROSDocker

Declaration
public bool _launchROSDocker
Field Value
Type Description
System.Boolean
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_namespace

The default ROS namespace for this simulation.

Declaration
public string _namespace
Field Value
Type Description
System.String
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_rootMapTransformPublisher

Declaration
[SerializeField]
public ZOROSTransformPublisher _rootMapTransformPublisher
Field Value
Type Description
ZOROSTransformPublisher
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_rosLaunchParameters

Declaration
public ZODockerRunParameters _rosLaunchParameters
Field Value
Type Description
ZODockerRunParameters
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_serializationType

JSON or BSON serialization. Recommended to stick with BSON as it is the most efficient.

Declaration
public ZOROSBridgeConnection.SerializationType _serializationType
Field Value
Type Description
ZOROSBridgeConnection.SerializationType
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_worldFrameId

Declaration
public string _worldFrameId
Field Value
Type Description
System.String
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Hostname

IP or hostname of the ROS Bridge

Declaration
public string Hostname
Field Value
Type Description
System.String
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Port

TCP Port for the ROS bridge. Do not change unless the default ROS Bridge port has been changed.

Declaration
public int Port
Field Value
Type Description
System.Int32

Properties

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Clock

sim

Declaration
public ClockMessage Clock { get; }
Property Value
Type Description
ClockMessage
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DefaultAssets

Default Asset Bundle readonly accessor.

Declaration
public AssetBundle DefaultAssets { get; }
Property Value
Type Description
UnityEngine.AssetBundle

AssetBundle
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Instance

Singleton access to this ROS Unity Manager.

Declaration
public static ZOROSUnityManager Instance { get; }
Property Value
Type Description
ZOROSUnityManager
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LaunchROSDocker

If set then launch docker image with ROS and execute ROS launch file.

Declaration
public bool LaunchROSDocker { get; }
Property Value
Type Description
System.Boolean
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Namespace

Declaration
public string Namespace { get; }
Property Value
Type Description
System.String
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RootMapTransform

Declaration
public ZOROSTransformPublisher RootMapTransform { get; }
Property Value
Type Description
ZOROSTransformPublisher
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ROSBridgeConnection

The singleton ROS Bridge Connection

Declaration
public ZOROSBridgeConnection ROSBridgeConnection { get; }
Property Value
Type Description
ZOROSBridgeConnection
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ROSLaunchParameters

The ROS Launch parameter scriptable object.

Declaration
public ZODockerRunParameters ROSLaunchParameters { get; }
Property Value
Type Description
ZODockerRunParameters
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WorldFrameId

The name of the world frame. Usually "map" or "world".

Declaration
public string WorldFrameId { get; }
Property Value
Type Description
System.String

Methods

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BroadcastTransform(TransformStampedMessage)

The ROS "/tf" topic broadcast. Provides an easy way to publish coordinate frame transform information.

Declaration
public void BroadcastTransform(TransformStampedMessage transformStamped)
Parameters
Type Name Description
TransformStampedMessage transformStamped

Events

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_connectEvent

Declaration
public event ZOROSUnityManager.ROSBridgeConnectionChangeHandler _connectEvent
Event Type
Type Description
ZOROSUnityManager.ROSBridgeConnectionChangeHandler
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_disconnectEvent

Declaration
public event ZOROSUnityManager.ROSBridgeConnectionChangeHandler _disconnectEvent
Event Type
Type Description
ZOROSUnityManager.ROSBridgeConnectionChangeHandler
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ROSBridgeConnectEvent

Event that is called when connected to ROS bridge.

Declaration
public event ZOROSUnityManager.ROSBridgeConnectionChangeHandler ROSBridgeConnectEvent
Event Type
Type Description
ZOROSUnityManager.ROSBridgeConnectionChangeHandler
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ROSBridgeDisconnectEvent

Event called when disconnected from ROS Bridge

Declaration
public event ZOROSUnityManager.ROSBridgeConnectionChangeHandler ROSBridgeDisconnectEvent
Event Type
Type Description
ZOROSUnityManager.ROSBridgeConnectionChangeHandler