void Start()
{
if (ChildFrame == null)
{
ChildFrame = transform;
}
message = new geometry_msgs.msg.PoseStamped();
message.header.frame_id = ParetFrameId;
publisher = node.CreatePublisher <geometry_msgs.msg.PoseStamped>(TopicName);
lastPublishTime = clock.Now;
}
protected override void StartRos()
{
if (mapFrame == null)
{
mapFrame = transform.parent;
}
if (goalFrame == null)
{
goalFrame = transform;
}
goalMsg = new geometry_msgs.msg.PoseStamped();
goalMsg.Header.Frame_id = mapFrame.name;
goalPublisher = node.CreatePublisher <geometry_msgs.msg.PoseStamped>(Topic);
}
protected override void StartRos()
{
if (parentFrame == null)
{
parentFrame = transform;
}
if (childFrame != null && parentFrame != null)
{
poseMsg = new geometry_msgs.msg.PoseStamped();
poseMsg.Header.Frame_id = parentFrame.name;
publisher = node.CreatePublisher <geometry_msgs.msg.PoseStamped>(Topic);
StartCoroutine("PublishPose");
}
else
{
Debug.LogError("No child and/or parent frame selected!");
}
}
void Start()
{
publisher = node.CreatePublisher <geometry_msgs.msg.PoseStamped>(TopicName);
moveBaseSimpleMessage = new geometry_msgs.msg.PoseStamped();
}