Merge pull request #204 from Bob-Eric/dev/working

Fix incorrect publish frequency for PointCloud2 publishers

Author: RyodoTanaka

Packages/UnitySensorsROS/Runtime/Scripts/Publishers/RosMsgPublisher.cs

@@ -36,8 +36,14 @@ public float frequency
             }
         }
         private void Awake()
+        {
+            InitializePublisher();
+        }
+
+        protected virtual void InitializePublisher()
         {
             _frequency_inv = 1.0f / _frequency;
+
             _publisher_id = _publisher_count;
             _publisher_count++;
 

Packages/UnitySensorsROS/Runtime/Scripts/Publishers/SensorMsgs/PointCloud2Msg/DepthCameraPointCloud2MsgPublisher.cs

@@ -11,10 +11,12 @@ public class DepthCameraPointCloud2MsgPublisher : PointCloud2MsgPublisher<PointX
         [SerializeField, Interface(typeof(IPointCloudInterface<PointXYZ>))]
         private Object _source;
 
-        private void Awake()
+        protected override void InitializePublisher()
         {
+            base.InitializePublisher();
+
             _serializer.SetSource(_source as IPointCloudInterface<PointXYZ>);
             (_source as DepthCameraSensor).convertToPointCloud = true;
         }
     }
-}
+}

Packages/UnitySensorsROS/Runtime/Scripts/Publishers/SensorMsgs/PointCloud2Msg/LiDARPointCloud2MsgPublisher.cs

@@ -10,8 +10,10 @@ public class LiDARPointCloud2MsgPublisher : PointCloud2MsgPublisher<PointXYZI>
         [SerializeField, Interface(typeof(IPointCloudInterface<PointXYZI>))]
         private Object _source;
 
-        private void Awake()
+        protected override void InitializePublisher()
         {
+            base.InitializePublisher();
+
             if (_source == null)
             {
                 Debug.LogError("Source is not set in LiDARPointCloud2MsgPublisher. Please ensure that the '_source' field is assigned in the Unity Editor or via code. Expected type: IPointCloudInterface<PointXYZI>.");
@@ -20,4 +22,4 @@ private void Awake()
             _serializer.SetSource(_source as IPointCloudInterface<PointXYZI>);
         }
     }
-}
+}

Packages/UnitySensorsROS/Runtime/Scripts/Publishers/SensorMsgs/PointCloud2Msg/RGBDCameraPointCloud2MsgPublisher.cs

@@ -11,10 +11,12 @@ public class RGBDCameraPointCloud2MsgPublisher : PointCloud2MsgPublisher<PointXY
         [SerializeField, Interface(typeof(IPointCloudInterface<PointXYZRGB>))]
         private Object _source;
 
-        private void Awake()
+        protected override void InitializePublisher()
         {
+            base.InitializePublisher();
+
             _serializer.SetSource(_source as IPointCloudInterface<PointXYZRGB>);
             (_source as RGBDCameraSensor).convertToPointCloud = true;
         }
     }
-}
+}