public void SendTransform(RBS.Messages.geometry_msgs.Transform transform, RBS.Messages.Time time, string frameID, string childFrameID)
{
RBS.Messages.geometry_msgs.TransformStamped transformStamped = new RBS.Messages.geometry_msgs.TransformStamped();
transformStamped.transform = transform;
transformStamped.header.stamp = time;
transformStamped.header.frame_id = frameID;
transformStamped.child_frame_id = childFrameID;
tfMessage.transforms[0] = transformStamped;
transformPublisher.Publish(tfMessage);
}
void Update()
{
if (RBSocket.Instance.IsConnected)
{
RBS.Messages.geometry_msgs.Pose pose = new RBS.Messages.geometry_msgs.Pose();
pose.position.x = cubeObject.transform.position.x;
pose.position.y = cubeObject.transform.position.y;
pose.position.z = cubeObject.transform.position.z;
pub.Publish(pose);
}
}
