Unity側:UnityからMeta(Oculus)のHMDの向き（角度）を出力しサーボモーターを制御

スクリプトは以下の通り。

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

using Unity.Robotics.ROSTCPConnector;

using OculusMsgMsg = RosMessageTypes.CppPubsub.OculusMsgMsg;
using UnityEngine.XR;
using Node = UnityEngine.XR.XRNode;

public class Publisher : MonoBehaviour
{
    ROSConnection ros;
    public string topicName = "oculus_topic";
    public float publishMessageFrequency = 0.015f;
    private float timeElapsed;
    // Start is called before the first frame update
    void Start()
    {
        ros = ROSConnection.GetOrCreateInstance();
        ros.RegisterPublisher<OculusMsgMsg>(topicName);
    }

    // Update is called once per frame
    void Update()
    {
        timeElapsed += Time.deltaTime;

        if (timeElapsed > publishMessageFrequency)
        {
            List<XRNodeState> DevStat = new List<XRNodeState>();
            InputTracking.GetNodeStates(DevStat);
            Quaternion hmdRotation;
            foreach (XRNodeState s in DevStat)
            {

                if (s.nodeType == XRNode.Head)
                {
                    s.TryGetRotation(out hmdRotation);
                    OculusMsgMsg outData = new OculusMsgMsg(hmdRotation.eulerAngles.ToVector3f());
                    ros.Publish(topicName, outData);
                    Debug.Log("Hello: " + outData);
                }
            }

            // Finally send the message to server_endpoint.py running in ROS

            timeElapsed = 0;
        }
    }
}