Why the /tf registered at first ? (with ROS-TCP-Connector)

devemin · May 31, 2022, 6:18am

Hello,

I use ROS-TCP-Connector.

I follow with this tutorial.

Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/publisher.md

# ROS–Unity Integration: Publisher

Create a simple Unity scene which publishes a GameObject's position and rotation to a [ROS topic](http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics#ROS_Topics).

These instructions cover the setup for both ROS1 and ROS2. Instructions for ROS2 users are marked with this icon: <img src="images/ros2_icon.png" alt="ros2" width="23" height="14"/>.

## Setting Up

- Follow the [ROS–Unity Demo Setup](setup.md#ros2-environment) guide.

## Create Unity Publisher
- In your Project tab in Unity, create a new C# script and name it `RosPublisherExample`. Paste the following code into the new script file.
    - (Alternatively, you can drag the script file into Unity from `tutorials/ros_unity_integration/unity_scripts/RosPublisherExample.cs` in this repo.)

```csharp
using UnityEngine;
using Unity.Robotics.ROSTCPConnector;
using RosMessageTypes.UnityRoboticsDemo;

/// <summary>

This file has been truncated. show original

I connect to ROS, then the /tf registered to subscribe…
Why?

(I didn’t add any more code. I use the tutorial’s code.)

I don’t need this /tf.
How can I delete this /tf sub?

zRegisterSubscriber(/tf, <class ‘tf2_msgs.msg._TFMessage.TFMessage’>) OK

8169047--1063013--upload_2022-5-31_15-15-33.png761×94 20 KB

Thanks.

devemin

devemin · May 31, 2022, 12:36pm

Solved it.

I found the settings.
Assets/Resources/ROSConnectionPrefab

I changed this

“TF Topics” → “-” button
“Listne for TF Messages” → check off

Then, RegisterSubscriber has disappeared.

Thanks!

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Why the /tf registered at first ? (with ROS-TCP-Connector)

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