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diff --git a/Assets/Robots/Scripts/Cuybot.meta b/Assets/Robots/Scripts/Cuybot.meta
new file mode 100644
index 0000000000000000000000000000000000000000..cd19372a0415e233fb37bef4edbf0f9612221a31
--- /dev/null
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diff --git a/Assets/Robots/Scripts/Cuybot/OdometryPublisher.cs b/Assets/Robots/Scripts/Cuybot/OdometryPublisher.cs
new file mode 100644
index 0000000000000000000000000000000000000000..a449254d0323b1f708bf4eca327dda0fa8064bc1
--- /dev/null
+++ b/Assets/Robots/Scripts/Cuybot/OdometryPublisher.cs
@@ -0,0 +1,111 @@
+using UnityEngine;
+using CrowdBot;
+using RosSharp;
+using RosSharp.RosBridgeClient;
+using Messages = RosSharp.RosBridgeClient.Messages;
+
+namespace Cuybot.ROS
+{
+ public class OdometryPublisher: Publisher<Messages.Navigation.Odometry>, Publisher
+ {
+ //public OdomProvider odom;
+ public string FrameId = "odom";
+ public Transform publishedTransform;
+ private Messages.Navigation.Odometry message;
+ private Vector3 lastPose;
+ private float lastAngle;
+ private bool firstUpdate = true;
+
+ protected override void Start()
+ {
+ //base.Start();
+ InitializeMessage();
+ }
+
+ private void FixedUpdate()
+ {
+ // UpdateMessage();
+ }
+
+ private void InitializeMessage()
+ {
+ message = new Messages.Navigation.Odometry();
+ message.header = new Messages.Standard.Header { frame_id = FrameId };
+ message.header.stamp = new Messages.Standard.Time();
+
+ message.twist = new Messages.Geometry.TwistWithCovariance();
+ message.twist.covariance = new float[36];
+ message.twist.twist = new Messages.Geometry.Twist();
+ message.twist.twist.linear = new Messages.Geometry.Vector3();
+ message.twist.twist.angular = new Messages.Geometry.Vector3();
+
+ message.pose = new Messages.Geometry.PoseWithCovariance();
+ message.pose.covariance = new float[36];
+ message.pose.pose = new Messages.Geometry.Pose();
+ message.pose.pose.position = new Messages.Geometry.Point();
+ message.pose.pose.orientation = new Messages.Geometry.Quaternion();
+ }
+ public void UpdateMessage()
+ {
+// if (ToolsTime.TimeSinceTrialStarted < last_timestamp + scanPeriod) return;
+
+ if (firstUpdate)
+ {
+ firstUpdate = false;
+ lastPose = publishedTransform.position;
+ lastAngle = publishedTransform.rotation.eulerAngles.y;
+ return;
+ }
+
+ if (ToolsTime.DeltaTime == 0)
+ return;
+
+ message.header.Update();
+ message.pose.pose.position = GetGeometryPoint(publishedTransform.position.Unity2Ros());
+ message.pose.pose.orientation = GetRotation(publishedTransform.rotation.Unity2Ros());
+ //message.pose.pose.orientation = GetRotation(Quaternion.AngleAxis(odom.get_pose_and_twist().theta*Mathf.Rad2Deg, Vector3.forward));
+ // message.pose.pose.orientation = GetRotation(Quaternion.identity);
+
+ float angle = publishedTransform.rotation.eulerAngles.y;
+
+ Vector3 pd = (publishedTransform.position - lastPose) / ToolsTime.DeltaTime;
+ Vector3 posdiff = Quaternion.AngleAxis(-publishedTransform.rotation.eulerAngles.y, Vector3.up) * pd;
+
+ message.twist.twist.linear = GetGeometryVector3(posdiff.Unity2Ros());
+ // message.twist.twist.linear = GetGeometryVector3(new Vector3(1,2,3));
+ message.twist.twist.angular = GetGeometryVector3(new Vector3(0, 0, (-angle + lastAngle) * Mathf.Deg2Rad / ToolsTime.DeltaTime));
+
+ Publish(message);
+ lastPose = publishedTransform.position;
+ lastAngle = publishedTransform.rotation.eulerAngles.y;
+ }
+
+ private Messages.Geometry.Point GetGeometryPoint(Vector3 position)
+ {
+ Messages.Geometry.Point geometryPoint = new Messages.Geometry.Point();
+ geometryPoint.x = position.x;
+ geometryPoint.y = position.y;
+ geometryPoint.z = position.z;
+ return geometryPoint;
+ }
+
+ private static Messages.Geometry.Vector3 GetGeometryVector3(Vector3 vector3)
+ {
+ Messages.Geometry.Vector3 geometryVector3 = new Messages.Geometry.Vector3();
+ geometryVector3.x = vector3.x;
+ geometryVector3.y = vector3.y;
+ geometryVector3.z = vector3.z;
+ return geometryVector3;
+ }
+
+ private Messages.Geometry.Quaternion GetRotation(Quaternion q)
+ {
+ Messages.Geometry.Quaternion my_q = new Messages.Geometry.Quaternion();
+ my_q.x = q.x;
+ my_q.y = q.y;
+ my_q.z = q.z;
+ my_q.w = q.w;
+ return my_q;
+ }
+ }
+}
diff --git a/Assets/Robots/Scripts/Cuybot/OdometryPublisher.cs.meta b/Assets/Robots/Scripts/Cuybot/OdometryPublisher.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..653406a5ce36d54f6ebfa66eab844125b4399d41
--- /dev/null
+++ b/Assets/Robots/Scripts/Cuybot/OdometryPublisher.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 69b4888c1d750f046929a164f2a60ede
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
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+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Robots/Scripts/Cuybot/OdometryTFPublisher.cs b/Assets/Robots/Scripts/Cuybot/OdometryTFPublisher.cs
new file mode 100644
index 0000000000000000000000000000000000000000..292afaec6394b4e01e72b94568857269709ad186
--- /dev/null
+++ b/Assets/Robots/Scripts/Cuybot/OdometryTFPublisher.cs
@@ -0,0 +1,87 @@
+using UnityEngine;
+using RosSharp;
+using RosSharp.RosBridgeClient;
+using Messages = RosSharp.RosBridgeClient.Messages;
+
+namespace Cuybot.ROS
+{
+ public class OdometryTFPublisher: Publisher<TFMessage>, Publisher
+ {
+ //public OdomProvider odom;
+ public string FrameId = "odom";
+ public Transform publishedTransform;
+ private TFMessage message;
+
+ protected override void Start()
+ {
+ Debug.Log("Odometry start");
+ //base.Start();
+ InitializeMessage();
+ }
+
+ private void FixedUpdate()
+ {
+ // UpdateMessage();
+ }
+
+ private void InitializeMessage()
+ {
+ message = new TFMessage();
+ message.transforms = new TransformStamped[] { new TransformStamped() };
+ message.transforms[0].header.frame_id = "odom";
+ message.transforms[0].child_frame_id = "base_link";
+ /* message.header = new Messages.Standard.Header { frame_id = FrameId };
+ message.header.stamp = new RosBridgeClient.Messages.Standard.Time();
+
+ message.twist = new Messages.Geometry.TwistWithCovariance();
+ message.twist.covariance = new float[36];
+ message.twist.twist = new Messages.Geometry.Twist();
+ message.twist.twist.linear = new Messages.Geometry.Vector3();
+ message.twist.twist.angular = new Messages.Geometry.Vector3();
+
+ message.pose = new Messages.Geometry.PoseWithCovariance();
+ message.pose.covariance = new float[36];
+ message.pose.pose = new Messages.Geometry.Pose();
+ message.pose.pose.position = new Messages.Geometry.Point();
+ message.pose.pose.orientation = new Messages.Geometry.Quaternion();
+ */
+ }
+ public void UpdateMessage()
+ {
+ // if (ToolsTime.TimeSinceTrialStarted < last_timestamp + scanPeriod) return;
+
+ message.transforms[0].header.Update();
+ message.transforms[0].transform.translation = GetGeometryVector3(publishedTransform.position.Unity2Ros());
+ message.transforms[0].transform.rotation = GetRotation(publishedTransform.rotation.Unity2Ros());
+
+ /* message.pose.pose.position.x = transform.position.x; // odom.get_pose_and_twist().x;
+ message.pose.pose.position.y = transform.position.y; // odom.get_pose_and_twist().y;
+ //message.pose.pose.orientation = GetRotation(Quaternion.AngleAxis(odom.get_pose_and_twist().theta*Mathf.Rad2Deg, Vector3.forward));
+ // message.pose.pose.orientation = GetRotation(Quaternion.identity);
+*/
+ //message.twist.twist.linear = GetGeometryVector3(new Vector3(odom.get_pose_and_twist().dxdt, odom.get_pose_and_twist().dydt, 0 ));
+ //message.twist.twist.angular = GetGeometryVector3(new Vector3(0,0, odom.get_pose_and_twist().dthetadt * Mathf.Rad2Deg ));
+
+ Publish(message);
+ }
+
+ private static Messages.Geometry.Vector3 GetGeometryVector3(Vector3 vector3)
+ {
+ Messages.Geometry.Vector3 geometryVector3 = new Messages.Geometry.Vector3();
+ geometryVector3.x = vector3.x;
+ geometryVector3.y = vector3.y;
+ geometryVector3.z = vector3.z;
+ return geometryVector3;
+ }
+
+ private Messages.Geometry.Quaternion GetRotation(Quaternion q)
+ {
+ Messages.Geometry.Quaternion my_q = new Messages.Geometry.Quaternion();
+ my_q.x = q.x;
+ my_q.y = q.y;
+ my_q.z = q.z;
+ my_q.w = q.w;
+ return my_q;
+ }
+ }
+}
diff --git a/Assets/Robots/Scripts/Cuybot/OdometryTFPublisher.cs.meta b/Assets/Robots/Scripts/Cuybot/OdometryTFPublisher.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..c57b76f670ca69856e7955bc8f066eab7cdc0c7a
--- /dev/null
+++ b/Assets/Robots/Scripts/Cuybot/OdometryTFPublisher.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 515bedba06bf7254190672f098832ad5
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Robots/Scripts/Cuybot/PoseWithCovarianceStamped.cs b/Assets/Robots/Scripts/Cuybot/PoseWithCovarianceStamped.cs
new file mode 100644
index 0000000000000000000000000000000000000000..454fb29fc631b806cdb38b1e5756ad3c98080b70
--- /dev/null
+++ b/Assets/Robots/Scripts/Cuybot/PoseWithCovarianceStamped.cs
@@ -0,0 +1,24 @@
+using Newtonsoft.Json;
+using RosSharp.RosBridgeClient;
+using Messages = RosSharp.RosBridgeClient.Messages;
+
+// Should be part of RosSharp
+//namespace RosSharp.RosBridgeClient.Messages.Geometry
+
+namespace Cuybot.ROS
+{
+ // public class PoseWithCovarianceStampedMsg : global::RosSharp.RosBridgeClient.Message
+ public class PoseWithCovarianceStamped : Message
+ {
+ [JsonIgnore]
+ public const string RosMessageName = "geometry_msgs/PoseWithCovarianceStamped";
+ public Messages.Standard.Header header;
+ public Messages.Geometry.PoseWithCovariance pose;
+
+ public PoseWithCovarianceStamped()
+ {
+ header = new Messages.Standard.Header();
+ pose = new Messages.Geometry.PoseWithCovariance();
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/Robots/Scripts/Cuybot/PoseWithCovarianceStamped.cs.meta b/Assets/Robots/Scripts/Cuybot/PoseWithCovarianceStamped.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..12e0a6d141349626d31225f665d6266c27dc1bbb
--- /dev/null
+++ b/Assets/Robots/Scripts/Cuybot/PoseWithCovarianceStamped.cs.meta
@@ -0,0 +1,11 @@
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+guid: 3a1ca239e896bdd4fa4a6264e8bc620a
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Robots/Scripts/Cuybot/PoseWithCovarianceStampedPublisher.cs b/Assets/Robots/Scripts/Cuybot/PoseWithCovarianceStampedPublisher.cs
new file mode 100644
index 0000000000000000000000000000000000000000..3c69591d2b670a09bc20dc0c5a73c272e4160c3c
--- /dev/null
+++ b/Assets/Robots/Scripts/Cuybot/PoseWithCovarianceStampedPublisher.cs
@@ -0,0 +1,61 @@
+using UnityEngine;
+using RosSharp;
+using RosSharp.RosBridgeClient;
+using Messages = RosSharp.RosBridgeClient.Messages;
+
+namespace Cuybot.ROS
+{
+ public class PoseWithCovarianceStampedPublisher : Publisher<PoseWithCovarianceStamped>, Publisher
+ {
+ public Transform publishedTransform;
+ public string FrameId = "Unity";
+
+ private PoseWithCovarianceStamped message;
+
+ protected override void Start()
+ {
+ base.Start();
+ InitializeMessage();
+ }
+
+ private void FixedUpdate()
+ {
+ // UpdateMessage();
+ }
+
+ private void InitializeMessage()
+ {
+ message = new PoseWithCovarianceStamped();
+ message.header.frame_id = FrameId;
+ }
+
+ public void UpdateMessage()
+ {
+ message.header.Update();
+ message.pose.pose.position = GetGeometryPoint(publishedTransform.position.Unity2Ros());
+ message.pose.pose.orientation = GetGeometryQuaternion(publishedTransform.rotation.Unity2Ros());
+
+ Publish(message);
+ }
+
+ private Messages.Geometry.Point GetGeometryPoint(Vector3 position)
+ {
+ Messages.Geometry.Point geometryPoint = new Messages.Geometry.Point();
+ geometryPoint.x = position.x;
+ geometryPoint.y = position.y;
+ geometryPoint.z = position.z;
+ return geometryPoint;
+ }
+
+ private Messages.Geometry.Quaternion GetGeometryQuaternion(Quaternion quaternion)
+ {
+ Messages.Geometry.Quaternion geometryQuaternion = new Messages.Geometry.Quaternion();
+ geometryQuaternion.x = quaternion.x;
+ geometryQuaternion.y = quaternion.y;
+ geometryQuaternion.z = quaternion.z;
+ geometryQuaternion.w = quaternion.w;
+ return geometryQuaternion;
+ }
+
+ }
+}
diff --git a/Assets/Robots/Scripts/Cuybot/PoseWithCovarianceStampedPublisher.cs.meta b/Assets/Robots/Scripts/Cuybot/PoseWithCovarianceStampedPublisher.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..f0aafdd844b1e716752623b1037e456c79bb0333
--- /dev/null
+++ b/Assets/Robots/Scripts/Cuybot/PoseWithCovarianceStampedPublisher.cs.meta
@@ -0,0 +1,11 @@
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+guid: 85c301c8fc1d9f14daa8092d81f5c9ad
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Robots/Scripts/Cuybot/TFMessage.cs b/Assets/Robots/Scripts/Cuybot/TFMessage.cs
new file mode 100644
index 0000000000000000000000000000000000000000..50508621985fcd7196fe5e11a7339015050c09b6
--- /dev/null
+++ b/Assets/Robots/Scripts/Cuybot/TFMessage.cs
@@ -0,0 +1,17 @@
+using Newtonsoft.Json;
+using RosSharp.RosBridgeClient;
+using Messages = RosSharp.RosBridgeClient.Messages;
+
+namespace Cuybot.ROS
+{
+ public class TFMessage: Message
+ {
+ [JsonIgnore]
+ public const string RosMessageName = "tf2_msgs/TFMessage";
+ public TransformStamped[] transforms;
+
+ public TFMessage()
+ {
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/Robots/Scripts/Cuybot/TFMessage.cs.meta b/Assets/Robots/Scripts/Cuybot/TFMessage.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..da65c064eb1fcc674b8a5450610eff81c1c3962d
--- /dev/null
+++ b/Assets/Robots/Scripts/Cuybot/TFMessage.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1d55fa563e7c6bc448d77b760d2e4621
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Robots/Scripts/Cuybot/TransformMsg.cs b/Assets/Robots/Scripts/Cuybot/TransformMsg.cs
new file mode 100644
index 0000000000000000000000000000000000000000..bdbdb07a34f4ed1c6ff8cf78b29a4c9430be4c5e
--- /dev/null
+++ b/Assets/Robots/Scripts/Cuybot/TransformMsg.cs
@@ -0,0 +1,22 @@
+using UnityEngine;
+using Newtonsoft.Json;
+using RosSharp.RosBridgeClient;
+using Messages = RosSharp.RosBridgeClient.Messages;
+
+namespace Cuybot.ROS
+{
+ public class TransformMsg : Message
+ {
+ [JsonIgnore]
+ public const string RosMessageName = "geometry_msgs/Transform";
+ public Messages.Geometry.Vector3 translation;
+ public Messages.Geometry.Quaternion rotation;
+
+ public TransformMsg()
+ {
+ translation = new Messages.Geometry.Vector3();
+ rotation = new Messages.Geometry.Quaternion();
+ rotation.w = 1;
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/Robots/Scripts/Cuybot/TransformMsg.cs.meta b/Assets/Robots/Scripts/Cuybot/TransformMsg.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..c703a2371193fdc71935fb359c2d886aee97dd62
--- /dev/null
+++ b/Assets/Robots/Scripts/Cuybot/TransformMsg.cs.meta
@@ -0,0 +1,11 @@
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+guid: 54769b08ad9e7e1408e5a69902305ac2
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+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Robots/Scripts/Cuybot/TransformStamped.cs b/Assets/Robots/Scripts/Cuybot/TransformStamped.cs
new file mode 100644
index 0000000000000000000000000000000000000000..0ca0cc6be100b339228f0d6ca9e871047321efd2
--- /dev/null
+++ b/Assets/Robots/Scripts/Cuybot/TransformStamped.cs
@@ -0,0 +1,22 @@
+using Newtonsoft.Json;
+using RosSharp.RosBridgeClient;
+using Messages = RosSharp.RosBridgeClient.Messages;
+
+namespace Cuybot.ROS
+{
+ public class TransformStamped : Message
+ {
+ [JsonIgnore]
+ public const string RosMessageName = "geometry_msgs/TransformStamped";
+ public Messages.Standard.Header header;
+ public string child_frame_id;
+ public TransformMsg transform;
+
+ public TransformStamped()
+ {
+ header = new Messages.Standard.Header();
+ child_frame_id = "";
+ transform = new TransformMsg();
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/Robots/Scripts/Cuybot/TransformStamped.cs.meta b/Assets/Robots/Scripts/Cuybot/TransformStamped.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..ba2961c12d9410952aebf40aa9fe88ae36c62fa2
--- /dev/null
+++ b/Assets/Robots/Scripts/Cuybot/TransformStamped.cs.meta
@@ -0,0 +1,11 @@
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+guid: 2c1bf84abe2e34a4a88768f6d5402d6b
+MonoImporter:
+ externalObjects: {}
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+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
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+ assetBundleName:
+ assetBundleVariant: