fixed diff drive controller crash when not named. Fixed diff drive control disconnect event.

Author: micahpearlman

Runtime/Scripts/ROS/Unity/Controllers/ZODifferentialDriveController.cs

@@ -53,7 +53,7 @@ public string Name {
         public Rigidbody ConnectedRigidBody {
             get { return _connectedBody.GetComponent<Rigidbody>(); }
         }
-        [SerializeField][ZOReadOnly] public ZOHingeJoint _rightWheelMotor;
+        [SerializeField] [ZOReadOnly] public ZOHingeJoint _rightWheelMotor;
 
         /// <summary>
         /// Hinge joint that drives the right wheel.
@@ -63,8 +63,8 @@ public ZOHingeJoint RightWheelMotor {
             get => _rightWheelMotor;
             set => _rightWheelMotor = value;
         }
-        
-        [SerializeField][ZOReadOnly] public ZOHingeJoint _leftWheelMotor;
+
+        [SerializeField] [ZOReadOnly] public ZOHingeJoint _leftWheelMotor;
 
         /// <summary>
         /// Hinge joint that drive the left wheel.
@@ -113,12 +113,30 @@ public string Type {
             }
         }
 
+        void OnValidate() {
+            // make sure we have a name
+            if (string.IsNullOrEmpty(_name)) {
+                _name = gameObject.name + "_" + Type;
+            }
+
+        }
+
+        protected override void ZOAwake() {
+            base.ZOAwake();
+
+            // make sure we have a name
+            if (string.IsNullOrEmpty(_name)) {
+                _name = gameObject.name + "_" + Type;
+            }
+
+        }
 
         // Start is called before the first frame update
         protected override void ZOStart() {
+            base.ZOStart();
             // auto-connect to ROS Bridge connection and disconnect events
             ZOROSUnityManager.Instance.ROSBridgeConnectEvent += OnROSBridgeConnected;
-            ZOROSUnityManager.Instance.ROSBridgeDisconnectEvent += OnROSBridgeConnected;
+            ZOROSUnityManager.Instance.ROSBridgeDisconnectEvent += OnROSBridgeDisconnected;
 
             if (ZOROSBridgeConnection.Instance.IsConnected) {
                 // subscribe to Twist Message
@@ -132,7 +150,7 @@ protected override void ZOStart() {
 
         protected override void ZOOnDestroy() {
             ZOROSUnityManager.Instance.ROSBridgeConnectEvent -= OnROSBridgeConnected;
-            ZOROSUnityManager.Instance.ROSBridgeDisconnectEvent -= OnROSBridgeConnected;
+            ZOROSUnityManager.Instance.ROSBridgeDisconnectEvent -= OnROSBridgeDisconnected;
         }
 
         protected override void ZOFixedUpdate() {
@@ -143,7 +161,7 @@ protected override void ZOFixedUpdate() {
             } else {
                 AngularVelocity = (float)_twistMessage.angular.z * Mathf.Rad2Deg;
             }
-            
+
         }
         protected override void ZOFixedUpdateHzSynchronized() {
 

Runtime/Scripts/ROS/Unity/ZOROSUnityManager.cs

@@ -164,7 +164,7 @@ public void BroadcastTransform(TransformStampedMessage transformStamped) {
         public static ZOROSUnityManager Instance {
             get => _instance;
         }
-            
+
         #endregion // Singleton
 
 
@@ -195,7 +195,7 @@ public AssetBundle DefaultAssets {
         #region Simulation Clock
 
         ClockMessage _clockMessage = new ClockMessage();
-        
+
         /// <summary>
         /// sim
         /// </summary>
@@ -244,7 +244,7 @@ void Start() {
 
 
                 ROSBridgeConnection.Serialization = _serializationType;
-                ROSBridgeConnection.ROSBridgeConnectEvent += delegate(ZOROSBridgeConnection rosBridge) {
+                ROSBridgeConnection.ROSBridgeConnectEvent += delegate (ZOROSBridgeConnection rosBridge) {
                     Debug.Log("INFO: Connected to ROS Bridge");
 
                     // advertise the transform broadcast
@@ -289,7 +289,7 @@ void Start() {
 
                 // run async task.  if cannot connect wait for a couple of seconds and try again
                 ROSBridgeConnection.Port = Port;
-                ROSBridgeConnection.Hostname = Hostname;                
+                ROSBridgeConnection.Hostname = Hostname;
                 Task rosBridgeConnectionTask = Task.Run(async () => {
                     await ROSBridgeConnection.ConnectAsync();
                 });
@@ -298,6 +298,7 @@ void Start() {
 
         }
 
+
         private void OnDestroy() {
             ROSBridgeConnection.UnAdvertise("/tf");
             // ROSBridgeConnection.UnAdvertiseService(_namespace + "/spawn_zosim_model");