working agents viz

Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ETHCrowdSubscriber.cs

+using UnityEngine;
+using System.Collections.Generic;
+
+namespace RosSharp.RosBridgeClient
+{
+    public class ETHCrowdSubscriber : Subscriber<Messages.crowdbotsim.TwistArrayStamped>
+    {
+        private bool isMessageReceived;
+
+        public Vector3[] crowd_pose;
+
+        protected override void Start()
+        {
+            int length = GameObject.FindGameObjectsWithTag("VirtualHumanActive").Length;
+            crowd_pose = new Vector3[length+1]; // + 1 for robot
+            for(int i = 0; i < length+1; i++)
+            {
+                crowd_pose[i] = new Vector3(0,0,0);
+            }
+            base.Start();
+        }
+
+        protected override void ReceiveMessage(Messages.crowdbotsim.TwistArrayStamped message)
+        {
+            for(int i = 0; i < message.twist.Length; i++){
+                if (i < crowd_pose.Length)
+                {
+                  crowd_pose[i] = ProcessMessage(message.twist[i]);
+                }
+                else
+                {
+                  print("Mismatch in crowd message an number of agents");
+                }
+            }
+            isMessageReceived = true;
+        }
+
+        private Vector3 ProcessMessage(Messages.Geometry.Twist agent)
+        {
+            Vector3 new_pos = new Vector3();
+            new_pos.x = agent.linear.x;
+            new_pos.y = agent.linear.z;
+            new_pos.z = agent.linear.y;
+            return new_pos;
+        }
+
+        public void GetAgents(List<Vector3> to_fill)
+        {
+          for(int i = 0; i < crowd_pose.Length; i++)
+          {
+            to_fill.Add(crowd_pose[i]);
+          }
+          return;
+        }
+    }
+}

Assets/AddOns/RosSharp/Urdf/meshes/Materials.meta → Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/ETHCrowdSubscriber.cs.meta

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Assets/MainAssets/Scripts/Managers/Viz_ExternalTrialManager.cs

@@ -15,7 +15,7 @@ public class Viz_ExternalTrialManager : MonoBehaviour, TrialManager {
     public RosConnector ros_connector;
     List<Publisher> Ros_Publishers;
     // List<Subscriber> Ros_Subscribers;
-    public CrowdStampedSubscriber crowdsub;
+    public ETHCrowdSubscriber crowdsub;
     private bool player_in_sim;
 
 
@@ -100,17 +100,19 @@ public class Viz_ExternalTrialManager : MonoBehaviour, TrialManager {
         }
 
         GameObject[] my_robots =  GameObject.FindGameObjectsWithTag("Robot");
-        foreach(GameObject r in my_robots)
-        {
-        }
-
         GameObject[] humans = GameObject.FindGameObjectsWithTag("VirtualHumanActive");
         int i = 0;
+        foreach (GameObject a in my_robots)
+        {
+            Vector3 temp = new Vector3(a.transform.position.x+(float)0.01, 0, 0);
+            a.transform.position = temp;
+           if (i < all_agents_pos.Count ){
+             a.transform.position = all_agents_pos[i];
+           }
+           i++;
+        }
         foreach (GameObject a in humans)
         {
-          Vector3 temp = new Vector3(a.transform.position.x+(float)0.01, 0, 0);
-          a.transform.position = temp;
-          // print(temp);
            if (i < all_agents_pos.Count ){
              a.transform.position = all_agents_pos[i];
            }

Assets/resources.meta

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