public static void Update(this MessageTypes.Std.Header header)
{
if (timer == null)
{
GameObject obj = new GameObject("DefaultTimer(UnityEpoch)");
timer = defaultTimer = obj.AddComponent <Timer>();
}
header.seq++;
header.stamp = timer.Now();
}
public static void Update(this MessageTypes.Std.Header header)
{
//TimeSpan t = DateTime.UtcNow - new DateTime(1970, 1, 1);
//uint result = (uint)t.TotalMilliseconds;
header.seq++;
//header.stamp.secs = 5;
//header.stamp.nsecs = 0;
timer.Now(header.stamp);
}
public void UpdateClock()
{
// Use Standard Header Extension as source of truth for time
MessageTypes.Std.Header header = new MessageTypes.Std.Header();
header.Update();
clock.clock = header.stamp;
nseconds = (double)header.stamp.nsecs / 1.0e9;
publishedTime = header.stamp.secs.ToString("F0") + nseconds.ToString("F9").Substring(1);
if (publishClock)
{
Publish(clock);
}
}
private void InitializeMessage()
{
header = new MessageTypes.Std.Header(0, new MessageTypes.Std.Time(), "map");
pose = new MessageTypes.Geometry.Pose();
message = new MessageTypes.Geometry.PoseStamped(header, pose);
}
