void Update()
{
if (Joint != null)
{
jointPosition += Time.deltaTime * JointVelocity;
jointStateMsg.position = new List <double> {
jointPosition
};
publisher.Publish(jointStateMsg);
}
}
new void FixedUpdate()
{
if (lastPublishTime.Delay(1.0f / PublisherFrequency).IsInThePast)
{
lastPublishTime = clock.Now;
Vector3 unityPosition = Quaternion.Inverse(ParentFrame.rotation) * (ChildFrame.position - ParentFrame.position);
message.pose.position.Unity2Ros(unityPosition);
//TODO(sam): Figure out why z is y in numpy quaternion
message.pose.orientation.Unity2Ros(Quaternion.Inverse(ParentFrame.rotation) * ChildFrame.rotation);
message.header.Update(clock);
publisher.Publish(message);
}
}
void Update()
{
poseWithCovarianceStampedMessage.header.Update(clock);
if (UseLocalTransform)
{
poseWithCovarianceStampedMessage.pose.pose.LocalUnity2Ros(transform);
}
else
{
poseWithCovarianceStampedMessage.pose.pose.Unity2Ros(transform);
}
publisher.Publish(poseWithCovarianceStampedMessage);
}
new void FixedUpdate()
{
robotPose.pose.LocalUnity2Ros(BaseRigidbody.transform);
robotTwist.twist.Unity2Ros(BaseRigidbody);
odometryMsg.header.Update(clock);
odometryPublisher.Publish(odometryMsg);
if (PublishTf)
{
tfTransformStamped.header.Update(clock);
tfTransformStamped.header.PostDate(tfPostDateMilliseconds);
tfTransformStamped.transform.LocalUnity2Ros(BaseRigidbody.transform);
tfPublisher.Publish(tfMsg);
}
}
void Update()
{
List <string> jointNames = new List <string>();
List <double> jointPositions = new List <double>();
List <double> jointVelocity = new List <double>();
List <double> jointEffort = new List <double>();
foreach (JointInterface jointInterface in GetComponentsInChildren <JointInterface>())
{
jointNames.Add(jointInterface.JointName);
jointPositions.Add(jointInterface.Position);
jointVelocity.Add(jointInterface.Velocity);
jointEffort.Add(jointInterface.Effort);
}
jointStateMsg.name = jointNames;
jointStateMsg.position = jointPositions;
jointStateMsg.velocity = jointVelocity;
jointStateMsg.effort = jointEffort;
jointStateMsg.header.Update(clock);
jointStatePublisher.Publish(jointStateMsg);
}
