From deeb982ae07db8b45f987113945fdaffd8b3d52f Mon Sep 17 00:00:00 2001 From: Ingram Weeks <47294253+Spice-Weasel@users.noreply.github.com> Date: Tue, 3 Oct 2023 17:35:19 +0100 Subject: [PATCH] Update 2_ros_tcp.md --- tutorials/pick_and_place/2_ros_tcp.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/pick_and_place/2_ros_tcp.md b/tutorials/pick_and_place/2_ros_tcp.md index e46089e9..e9e22b1c 100644 --- a/tutorials/pick_and_place/2_ros_tcp.md +++ b/tutorials/pick_and_place/2_ros_tcp.md @@ -112,7 +112,7 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n } ``` - > This function first takes in the current joint target values. Then, it grabs the poses of the `m_Target` and the `m_TargetPlacement` objects, adds them to the newly created message `sourceDestinationMessage`, and calls `Send()` to send this information to the ROS topic `m_TopicName` (defined as `"/niryo_joints"`). + > This function first takes in the current joint target values. Then, it grabs the poses of the `m_Target` and the `m_TargetPlacement` objects, adds them to the newly created message `sourceDestinationMessage`, and calls `Publish()` to send this information to the ROS topic `m_TopicName` (defined as `"/niryo_joints"`). > Note: Going from Unity world space to ROS world space requires a conversion. Unity's coordinate space has x Right, y Up, and z Forward (hence "RUF" coordinates); ROS has x Forward, y Left and z Up (hence "FLU"). So a Unity `(x,y,z)` coordinate is equivalent to the ROS `(z,-x,y)` coordinate. These conversions are done by the `To` function in the ROS-TCP-Connector package's [ROSGeometry component](https://github.com/Unity-Technologies/ROS-TCP-Connector/blob/main/ROSGeometry.md).