Adds tests and package

ConnectionManager.cs

@@ -0,0 +1,28 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class ConnectionManager : MonoBehaviour {
+  private ROSBridgeLib.ROSBridgeWebSocketConnection ros = null;
+
+  public string IP = "192.168.1.142";
+
+  void Start() {
+    // Where the rosbridge instance is running, could be localhost, or some external IP
+    ros = new ROSBridgeLib.ROSBridgeWebSocketConnection("ws://" + IP, 9090);
+
+    ros.AddSubscriber (typeof(TestSubscriber));
+    ros.Connect ();
+  }
+
+  // Extremely important to disconnect from ROS. Otherwise packets continue to flow
+  void OnApplicationQuit() {
+    if(ros!=null) {
+      ros.Disconnect ();
+    }
+  }
+  // Update is called once per frame in Unity
+  void Update () {
+    ros.Render ();
+  }
+}

TestSubscriber.cs

@@ -0,0 +1,37 @@
+using SimpleJSON;
+using UnityEngine;
+
+public class TestSubscriber : ROSBridgeLib.ROSBridgeSubscriber {
+  public new static string GetMessageTopic() {
+    return "/test_object";
+  }
+
+  public new static string GetMessageType() {
+    return "std_msgs/PoseMsg";
+  }
+
+  public new static ROSBridgeMsg ParseMessage(JSONNode msg) {
+    return new ROSBridgeLib.geometry_msgs.PoseMsg (msg);
+  }
+
+  // This function should fire on each received ros message
+  public new static void CallBack(ROSBridgeMsg msg) {
+
+    GameObject TestObject = GameObject.FindGameObjectWithTag("TestObject");
+
+    ROSBridgeLib.geometry_msgs.TransformStampedMsg incomingMessage = (ROSBridgeLib.geometry_msgs.TransformStampedMsg)msg;
+    float x = incomingMessage.GetTransform().GetTranslation().GetX();
+    float y = incomingMessage.GetTransform().GetTranslation().GetY();
+    float z = incomingMessage.GetTransform().GetTranslation().GetZ();
+
+    float qx = incomingMessage.GetTransform().GetRotation().GetX();
+    float qy = incomingMessage.GetTransform().GetRotation().GetY();
+    float qz = incomingMessage.GetTransform().GetRotation().GetZ();
+    float qw = incomingMessage.GetTransform().GetRotation().GetW();
+
+    Vector3 IncomingPosition = new Vector3(x, z, y);
+    Quaternion IncomingRotation = new Quaternion(qx, qy, qz, qw); 
+
+    TestObject.transform.SetPositionAndRotation(IncomingPosition, IncomingRotation);
+  }
+}

geometry_msgs/TransformMsg.cs

@@ -0,0 +1,49 @@
+using System.Collections;
+using System.Text;
+using SimpleJSON;
+
+/**
+ * Define a geometry_msgs pose message. This has been hand-crafted from the corresponding
+ * geometry_msgs message file.
+ * 
+ * @author Miquel Massot Campos
+ */
+
+namespace ROSBridgeLib {
+	namespace geometry_msgs {
+		public class TransformMsg : ROSBridgeMsg {
+			public PointMsg _translation;
+			public QuaternionMsg _rotation;
+
+			public TransformMsg(JSONNode msg) {
+                _translation = new PointMsg(msg["translation"]);
+                _rotation = new QuaternionMsg(msg["rotation"]);
+            }
+
+			public TransformMsg(PointMsg p, QuaternionMsg q) {
+                _translation = p;
+                _rotation = q;
+            }
+
+			public static string getMessageType() {
+				return "geometry_msgs/Transform";
+			}
+
+			public PointMsg GetTranslation() {
+				return _translation;
+			}
+
+			public QuaternionMsg GetRotation() {
+				return _rotation;
+			}
+
+			public override string ToString() {
+				return "geometry_msgs/Transform [translation=" + _translation.ToString() + ",  rotation=" + _rotation.ToString() + "]";
+			}
+
+			public override string ToYAMLString() {
+				return "{\"translation\": " + _translation.ToYAMLString() + ", \"rotation\": " + _rotation.ToYAMLString() + "}";
+			}
+		}
+	}
+}

geometry_msgs/TransformStampedMsg.cs

@@ -0,0 +1,43 @@
+using System.Collections;
+using System.Text;
+using SimpleJSON;
+using ROSBridgeLib.std_msgs;
+
+/* 
+ * @brief ROSBridgeLib
+ * @author Michael Jenkin, Robert Codd-Downey, Andrew Speers and Miquel Massot Campos
+ */
+
+namespace ROSBridgeLib {
+	namespace geometry_msgs {
+		public class TransformStampedMsg : ROSBridgeMsg {
+			public HeaderMsg _header;
+			public TransformMsg _transform;
+
+			public TransformStampedMsg(JSONNode msg) {
+				_header = new HeaderMsg(msg["header"]);
+                _transform = new TransformMsg(msg["transform"]);
+			}
+
+			public static string GetMessageType() {
+				return "geometry_msgs/TransformPosed";
+			}
+
+			public HeaderMsg GetHeader() {
+				return _header;
+			}
+
+			public TransformMsg GetTransform() {
+				return _transform;
+			}
+
+			public override string ToString() {
+				return "TransformStamped [header=" + _header.ToString() + ",  transform=" + _transform.ToString() + "]";
+			}
+
+			public override string ToYAMLString() {
+				return "{\"header\" : " + _header.ToYAMLString() + ", \"transform\" : " + _transform.ToYAMLString() + "}";
+			}
+		}
+	}
+}

sensor_msgs/PointCloud2Msg.cs

@@ -1,14 +1,19 @@
-using SimpleJSON;
+
+
+using SimpleJSON;
 using ROSBridgeLib.std_msgs;
 using UnityEngine;
-using PointCloud;
+//Fix Pointcloud...
+//using PointCloud;
 
 /**
  * Define a PointCloud2 message.
  *  
  * @author Miquel Massot Campos
  */
 
+    /*
+
 namespace ROSBridgeLib {
 	namespace sensor_msgs {
 		public class PointCloud2Msg : ROSBridgeMsg {
@@ -121,3 +126,5 @@ public override string ToYAMLString() {
 		}
 	}
 }
+
+    */