Remove old Button prefab and add new Button Blue and Button Yellow prefabs. Update SampleScene with new button values and adjust AnchoredPosition. Update Anton SDF font asset and ProjectSettings with new LFS references. Update README to reflect Unity Editor version change and additional build instructions.

Author: saku-1192

Assets/CSscript/DataList.cs

@@ -18,19 +18,21 @@ public class DataList : MonoBehaviour
     [SerializeField] List<Data> data;
     private UnityPublisher pubcon;
 
-    void Start(){
+    void Start()
+    {
         Debug.Log(data.Count);
         pubcon = GameObject.Find("Pubcontoroller").GetComponent<UnityPublisher>();
 
-        for(int count = 0;count < data.Count;count++){
+        for(int count = 0;count < data.Count;count++)
+        {
             Button button1 = data[count].button;
             string string1 = data[count].topic;
             button1.onClick.AddListener(() => SendMsg(string1));
         }
     }
-    void Update(){
-    }
-    void SendMsg(string msg){
+
+    void SendMsg(string msg)
+    {
         pubcon.queue.Enqueue(msg);
         Debug.Log("SendMsg: " + msg);
     }

Assets/CSscript/DualButton.cs

@@ -6,19 +6,22 @@ public class DualButton : MonoBehaviour
     [SerializeField] private Button originButton;
     [SerializeField] private Button targetButton;
 
-    void Start() {
+    void Start() 
+    {
         originButton.gameObject.SetActive(true);
         targetButton.gameObject.SetActive(false);
         originButton.onClick.AddListener(OnOriginButtonClick);
         targetButton.onClick.AddListener(OnTargetButtonClick);
     }
 
-    private void OnOriginButtonClick() {
+    private void OnOriginButtonClick() 
+    {
         originButton.gameObject.SetActive(false);
         targetButton.gameObject.SetActive(true);
     }
 
-    private void OnTargetButtonClick() {
+    private void OnTargetButtonClick() 
+    {
         targetButton.gameObject.SetActive(false);
         originButton.gameObject.SetActive(true);
     }

Assets/CSscript/HoldPanelAction.cs

@@ -25,7 +25,8 @@ private void Awake()
         _hold.action.Enable();
     }
 
-    private void OnDestroy() {
+    private void OnDestroy() 
+    {
         if (_hold == null) return;
         _hold.action.performed -= OnHold;
         _hold.action.canceled -= OffHold;

Assets/CSscript/PanelContoroller.cs

@@ -23,10 +23,6 @@ void Start () {
         autoOn();
     }
 
-    void Update()
-    {
-    }
-
     void autoOn(){
         is_autoPanel = true;
         is_manualPanel = false;

Assets/CSscript/Toggle.cs

@@ -22,20 +22,23 @@ public class Toggle : MonoBehaviour
     [SerializeField] private string originalText = "/originalText";
     [SerializeField] private string targetText = "/targetText";
 
-    private void Start() {
+    private void Start() 
+    {
         handlePosX = Mathf.Abs(handle.anchoredPosition.x);
         Value = onAwake;
         UpdateToggle(0);
         displayText.text = originalText;
         displayText.color = ORIGINAL_TEXT_COLOR;
     }
 
-    public void SwitchToggle() {
+    public void SwitchToggle() 
+    {
         Value = !Value;
         UpdateToggle(SWITCH_DURATION);
     }
 
-    private void UpdateToggle(float duration) {
+    private void UpdateToggle(float duration) 
+    {
         var bgColor = Value ? ON_BG_COLOR : OFF_BG_COLOR;
         var handleDestX = Value ? handlePosX : -handlePosX;
 
@@ -45,12 +48,15 @@ private void UpdateToggle(float duration) {
             .Join(handle.DOAnchorPosX(handleDestX, duration / 2));
     }
 
-    private void Update() {
-        if (targetToggle.Value) {
+    private void Update() 
+    {
+        if (targetToggle.Value) 
+        {
             displayText.text = targetText;
             displayText.color = ORIGINAL_TEXT_COLOR;
         }
-        else {
+        else 
+        {
             displayText.text = originalText;
             displayText.color = TARGET_TEXT_COLOR;
         }

Assets/CSscript/UnitySubscriber.cs

@@ -14,7 +14,6 @@
 using TS = geometry_msgs.msg.TwistStamped;
 using Sw = nhk2025b_msgs.msg.Swerve;
 using Sa = nhk2025b_msgs.msg.StateArray;
-using Pe = rcl_interfaces.msg.ParameterEvent;
 
 public class UnitySubscriber : MonoBehaviour
 {
@@ -29,7 +28,6 @@ public class UnitySubscriber : MonoBehaviour
     private ISubscription<Sw> result_sub;
     private ISubscription<Sw> cmd_sub;
     private ISubscription<Sa> state_sub;
-    private ISubscription<Pe> parameter_sub;
 
     private Queue<string> recqueue = new Queue<string>();
 
@@ -164,7 +162,6 @@ void Update()
                 result_sub = ros2Node.CreateSubscription<Sw>("/swerve/result", resultCallback);
                 cmd_sub = ros2Node.CreateSubscription<Sw>("/visualization/swerve", cmdCallback);
                 state_sub = ros2Node.CreateSubscription<Sa>("/behavior/avaiable_state_array", stateCallback);
-                parameter_sub = ros2Node.CreateSubscription<Pe>("/parameter_events", parameterCallback);
             }
         }
 
@@ -246,7 +243,7 @@ void Update()
         //Visualize Path
         if(subscribedPath != null && subscribedPath.Poses.Length > 0)
         {
-            int setmax=0;
+            int setmax = 0;
             if(subscribedPath.Poses.Length<maxPointCount) setmax= subscribedPath.Poses.Length;
             else setmax = 100;
             for(int i = 0;i < maxPointCount;i++){
@@ -431,17 +428,6 @@ void stateCallback(Sa msg)
         Array.Copy(stateName, prevStateName, stateSize);
     }
 
-    void parameterCallback(Pe msg)
-    {
-        // foreach (var parameter in msg.Changed_parameters)
-        // {
-        //     if (parameter.Name == "is_red")
-        //     {
-        //         ogIsRed = parameter.Value.Bool_value;
-        //     }
-        // }
-    }
-
     void sendStatus(int status)
     {
         unityPublisher.intQueue.Enqueue(status);