void Update() { ros.Render(); if (!_running) { return; } timer -= Time.deltaTime; if (timer <= 0) { timer = pollRate; PointMsg point = new PointMsg(1, 2, 3); QuaternionMsg quat = new QuaternionMsg(1, 2, 3, 4); PoseMsg pose = new PoseMsg(point, quat); PoseWithCovarianceMsg posec = new PoseWithCovarianceMsg(pose); Vector3Msg vec3 = new Vector3Msg(1, 2, 3); TwistMsg twist = new TwistMsg(vec3, vec3); TwistWithCovarianceMsg twistc = new TwistWithCovarianceMsg(twist, new double[36]); HeaderMsg header = new HeaderMsg(1, new TimeMsg(1, 1), "0"); PoseStampedMsg ps = new PoseStampedMsg(header, pose); PathMsg msg = new PathMsg(header, new PoseStampedMsg[] { ps, ps, ps }); BoolMsg boolmsg = new BoolMsg(true); StringMsg str = new StringMsg("This is a test"); RegionOfInterestMsg roi = new RegionOfInterestMsg(0, 1, 2, 3, true); CameraInfoMsg caminfo = new CameraInfoMsg(header, 100, 200, "plumb_bob", new double[5], new double[9], new double[9], new double[12], 14, 123, roi); _genericPub.PublishData(caminfo); } }
public OdometryMsg(HeaderMsg header, string child_frame_id, PoseWithCovarianceMsg pose, TwistWithCovarianceMsg twist) { _header = header; _child_frame_id = child_frame_id; _pose = pose; _twist = twist; }
public OdometryMsg(JSONNode msg) { _header = new HeaderMsg(msg["header"]); _child_frame_id = msg["child_frame_id"]; _pose = new PoseWithCovarianceMsg(msg["pose"]); _twist = new TwistWithCovarianceMsg(msg["twist"]); }
public override void Deserialize(JSONNode msg) { _header = new HeaderMsg(msg["header"]); _child_frame_id = msg["child_frame_id"].ToString(); _pose = new PoseWithCovarianceMsg(msg["pose"]); _twist = new TwistWithCovarianceMsg(msg["twist"]); }
public OdometryMsg(PoseWithCovarianceMsg pose) { _header = new HeaderMsg(0, new TimeMsg(0, 0), "0"); _child_frame_id = "0"; _pose = pose; _twist = new TwistWithCovarianceMsg(new TwistMsg(new Vector3Msg(0, 0, 0), new Vector3Msg(0, 0, 0)), new double[36]); }
// Send Odometry to ROS private IEnumerator SendOdometryToROS(ROS ros) { while (Application.isPlaying) { if (ros.IsConnected()) { double[] covariance_pose = new double[36]; for (int i = 0; i < covariance_pose.Length; i++) { covariance_pose[i] = 0.0f; } HeaderMsg globalHead = new HeaderMsg(0, new TimeMsg(DateTime.Now.Second, 0), "map"); PoseWithCovarianceMsg pose = new PoseWithCovarianceMsg(new PoseMsg(new PointMsg(transform.position, true), new QuaternionMsg(transform.rotation, true)), covariance_pose); TwistWithCovarianceMsg twist = new TwistWithCovarianceMsg(new TwistMsg(new Vector3Msg(agent.velocity, true), new Vector3Msg(0.0f, 0.0f, 0.0f)), covariance_pose); OdometryMsg odometrymsg = new OdometryMsg(globalHead, "odom", pose, twist); ros.Publish(Odometry_pub.GetMessageTopic(), odometrymsg); } yield return(new WaitForSeconds(rOSFrecuencyOdometry)); } }