I got this error when trying to display console data in a scene using TextMeshPro in ros2-for-unity. The ideal output result would be to display the SUBSCRIBED data in the unity scene.
The script looks like the following.
I would like to program it in a way that it receives the published msg.Data and displays it in the scene.
// Copyright 2019-2021 Robotec.ai.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
using System;
using UnityEngine;
using TMPro;
using TMPro.Examples;
namespace ROS2
{
/// <summary>
/// An example class provided for testing of basic ROS2 communication
/// </summary>
public class ROS2ListenerExample : MonoBehaviour
{
[SerializeField]
private TMPro.TMP_Text subscrib_text;
private ROS2UnityComponent ros2Unity;
private ROS2Node ros2Node;
private ISubscription<std_msgs.msg.String> chatter_sub;
void Start()
{
ros2Unity = GetComponent<ROS2UnityComponent>();
}
void Update()
{
if (ros2Node == null && ros2Unity.Ok())
{
ros2Node = ros2Unity.CreateNode("ROS2UnityListenerNode");
chatter_sub = ros2Node.CreateSubscription<std_msgs.msg.String>(
"chatter", msg => subscrib_text.SetText("Unity listener heard: [" + msg.Data + "]"));
}
}
}
} // namespace ROS2