public void sendPTPCommand(MessageTypes.Dobot.SetPTPCmdRequest request)
{
RosSocket rosSocket = this.rosConnector.RosSocket;
markerHandler.clearMarkers();
Debug.Log($"SendPTPCommand({request.ptpMode},{request.x},{request.y},{request.z},{request.r},{request.isQueued})");
rosSocket.CallService <MessageTypes.Dobot.SetPTPCmdRequest, MessageTypes.Dobot.SetPTPCmdResponse>(serviceName, responseHandler, request);
}
public void sendPTPCommand()
{
//SetPTPCmdRequest ptpRequest = new SetPTPCmdRequest(0, 0, 200, 0, 0, false);
byte ptpMode_byte;
byte.TryParse("" + ptpMode, out ptpMode_byte);
MessageTypes.Dobot.SetPTPCmdRequest request = new MessageTypes.Dobot.SetPTPCmdRequest(ptpMode_byte, x, y, z, r, isQueued);
sendPTPCommand(request);
}