setting some sane defaults.

Author: micahpearlman

Runtime/Scripts/ROS/Unity/Publishers/ZOROSImagePublisher.cs

@@ -74,6 +74,13 @@ protected override void ZOOnDestroy() {
             ROSBridgeConnection?.UnAdvertise(ROSTopic);
         }
 
+        protected override void ZOOnValidate() {
+            base.ZOOnValidate();
+            if (RGBCameraSensor == null) {
+                RGBCameraSensor = GetComponent<ZORGBCamera>();
+            }
+        }
+
         private void Initialize() {
             // advertise
             ROSBridgeConnection.Advertise(ImageROSTopic, _rosImageMessage.MessageType);

Runtime/Scripts/ROS/Unity/Publishers/ZOROSLaserScanPublisher.cs

@@ -54,6 +54,21 @@ protected override void ZOStart() {
             }
         }
 
+        protected override void ZOOnValidate() {
+            base.ZOOnValidate();
+            if (LIDAR2DSensor == null) {
+                LIDAR2DSensor = GetComponent<ZOLIDAR2D>();                
+            }
+
+            if (ROSTopic == "") {
+                ROSTopic = "scan";
+            }
+
+            if (UpdateRateHz == 0) {
+                UpdateRateHz = 10;
+            }
+        }
+
         private void Initialize() {
             // advertise
             ROSBridgeConnection.Advertise(ROSTopic, _rosLaserScanMessage.MessageType);

Runtime/Scripts/ROS/Unity/Publishers/ZOROSTransformPublisher.cs

@@ -51,6 +51,20 @@ protected override void ZOUpdateHzSynchronized() {
 
         }
 
+        protected override void ZOOnValidate() {
+            base.ZOOnValidate();
+            if (ChildFrameID == "") {
+                ChildFrameID = Name;
+            }
+            if (FrameID == "") {
+                if (transform.parent) {
+                    FrameID = transform.parent.name;
+                }
+            }
+            if (UpdateRateHz == 0) {
+                UpdateRateHz = 10;
+            }
+        }
 
         public override string Type {
             get { return "ros.publisher.transform"; }

Runtime/Scripts/Sensors/RGBCamera/ZORGBCamera.cs

@@ -116,7 +116,7 @@ public Vector2 SensorSizeMM {
 
 
         protected override void ZOOnValidate() {
-
+            base.ZOOnValidate();
             // if camera is not assigned see if we have a camera component on this game object
             if (_camera == null) {
                 _camera = this.GetComponent<Camera>();
@@ -131,6 +131,14 @@ protected override void ZOOnValidate() {
 #endif // UNITY_EDITOR                
             }
 
+            if (UpdateRateHz == 0) {
+                UpdateRateHz = 30;
+            }
+
+            if (Name == "") {
+                Name = gameObject.name + "_camera";
+            }
+
 
         }
 
@@ -155,7 +163,7 @@ protected void Initialize() {
             // if (IsMonochrome) {
             //     _monoPixels8 = new byte[_width * _height];
             // } else { // RGB
-                _colorPixels24 = new byte[_width * _height * 3];
+            _colorPixels24 = new byte[_width * _height * 3];
             // }
 
 
@@ -228,12 +236,12 @@ private void DoRenderTextureUpdate() {
                             //     }
                             //     OnPublishRGBImageDelegate(this, Name, _width, _height, _monoPixels8);
                             // } else { // RBG
-                                for (int i = 0, c3 = 0, c4 = 0; i < _width * _height; i++, c3 += 3, c4 += 4) {
-                                    _colorPixels24[c3 + 0] = (byte)(rawTextureData[c4 + 1]);
-                                    _colorPixels24[c3 + 1] = (byte)(rawTextureData[c4 + 2]);
-                                    _colorPixels24[c3 + 2] = (byte)(rawTextureData[c4 + 3]);
-                                }
-                                OnPublishRGBImageDelegate(this, Name, _width, _height, _colorPixels24);
+                            for (int i = 0, c3 = 0, c4 = 0; i < _width * _height; i++, c3 += 3, c4 += 4) {
+                                _colorPixels24[c3 + 0] = (byte)(rawTextureData[c4 + 1]);
+                                _colorPixels24[c3 + 1] = (byte)(rawTextureData[c4 + 2]);
+                                _colorPixels24[c3 + 2] = (byte)(rawTextureData[c4 + 3]);
+                            }
+                            OnPublishRGBImageDelegate(this, Name, _width, _height, _colorPixels24);
 
                             // }
                             UnityEngine.Profiling.Profiler.EndSample();