using System.Collections;
using System.Collections.Generic;
using UnityEngine;

using System;
using RosMessageTypes.Geometry;
using RosMessageTypes.Teng4pkg; //teng4note, Change to your own package folder name here! (find it in Assets/RosMessages/)
using Unity.Robotics;
using Unity.Robotics.ROSTCPConnector;
using Unity.Robotics.ROSTCPConnector.ROSGeometry;
using Unity.Robotics.UrdfImporter;
using Unity.Robotics.UrdfImporter.Control;

public class ROSDataReceiver : MonoBehaviour
{
    //Unity.Robotics.UrdfImporter.Control.Controller controller; //note, this "controller" is the "Controller.cs" attached to the robot object.
    
    // Required for ROS communication
    [SerializeField]
    string m_SubscriberName = "/arm_target1"; //note, '/arm_target1' is ROS topic message in customized 'Arm_State.msg' type. [joint_1_angle,.., joint_2_angle].
    GameObject myRobot; //teng4note, this will be defined by selecting the robot object as its 'value'.
    public float data_received_a1 = 0.0f; //to display the received ROS data.
    public float data_received_a2 = 0.0f; //to display the received ROS data.
    public float data_received_a3 = 0.0f; //to display the received ROS data.
    public float data_received_a4 = 0.0f; //to display the received ROS data.
    public float data_received_a5 = 0.0f; //to display the received ROS data.
    public float data_received_a6 = 0.0f; //to display the received ROS data.
   
    // ROS Connector
    ROSConnection m_Ros;


    // Start is called before the first frame update
    void Start()
    {
        //Get ROS connection static instance
        m_Ros = ROSConnection.GetOrCreateInstance();
        
        //Get the Controller.cs component from robot object
        //controller = myRobot.GetComponent<Controller>(); //this retrieves the Controller.cs attached to the robot object.        
        //print("test, controller.name=: " + controller.name);
    }

    // Update is called once per frame
    void Update()
    {
        //Receiving data from ROS node.
        m_Ros.Subscribe<Arm_StateMsg>(m_SubscriberName, MsgDataProcessing);
    }

    void MsgDataProcessing(Arm_StateMsg dataMsg){ 
        data_received_a1 = (float)dataMsg.joint_1_angle; //to display the received ROS data.
        data_received_a2 = (float)dataMsg.joint_2_angle; //to display the received ROS data.
        data_received_a3 = (float)dataMsg.joint_3_angle; //to display the received ROS data.
        data_received_a4 = (float)dataMsg.joint_4_angle; //to display the received ROS data.
        data_received_a5 = (float)dataMsg.joint_5_angle; //to display the received ROS data.
        data_received_a6 = (float)dataMsg.joint_6_angle; //to display the received ROS data.   
        
        //controller.joint_1_target = (float)dataMsg.joint_1_angle; //to display the received ROS data.
        //controller.joint_2_target = (float)dataMsg.joint_2_angle; //to display the received ROS data.
        //controller.joint_3_target = (float)dataMsg.joint_3_angle; //to display the received ROS data.
        //controller.joint_4_target = (float)dataMsg.joint_4_angle; //to display the received ROS data.
        //controller.joint_5_target = (float)dataMsg.joint_5_angle; //to display the received ROS data.
        //controller.joint_6_target = (float)dataMsg.joint_6_angle; //to display the received ROS data.           
    }
}

$ roscore

$ echo $ROS_PACKAGE_PATH
$ cd catkin_ws2
$ source devel/setup.bash
$ echo $ROS_PACKAGE_PATH
$ roslaunch ros_tcp_endpoint endpoint.launch tcp_ip:=127.0.0.1 tcp_port:=10000 //this will launch the bridge between ROS and Unity.

$ echo $ROS_PACKAGE_PATH
$ cd catkin_ws2
$ source devel/setup.bash
$ echo $ROS_PACKAGE_PATH
$ roslaunch omni_common omni_state4.launch //this will publish data to ROS. And now the received data in Unity can be observed in “ROSDataReceiver” object.

using Unity.Robotics.UrdfImporter; // Import the original package namespace
using UnityEngine;

// Inherit from the existing Controller class
public class CustomController : Controller
{
    // Example of overriding a method from the original Controller class
    protected override void Start()
    {
        // Call the base Start method from Controller
        base.Start();
        
        // Add custom functionality here
        Debug.Log("Custom controller initialization");
    }

    // Add any new methods or override other methods from Controller.cs here
    public void CustomMethod()
    {
        Debug.Log("This is a custom method in the custom controller.");
    }
}