void Start()
{
poseWithCovarianceStampedMessage = new geometry_msgs.msg.PoseWithCovarianceStamped();
poseWithCovarianceStampedMessage.pose.covariance = poseCovarianceDiagonal.CovarianceMatrixFromDiagonal();
poseWithCovarianceStampedMessage.header.frame_id = FrameId;
publisher = node.CreatePublisher <geometry_msgs.msg.PoseWithCovarianceStamped>(TopicName);
}
protected override void StartRos()
{
if (parentFrame == null)
{
parentFrame = transform;
}
poseMsg = new geometry_msgs.msg.PoseWithCovarianceStamped();
publisher = node.CreatePublisher <geometry_msgs.msg.PoseWithCovarianceStamped>(Topic);
if (childFrame == null)
{
Debug.LogError("No child frame selected!");
}
else
{
StartCoroutine("PublishPose");
}
}