private void trackBar1_Scroll(object sender, EventArgs e)
{
if (vel_x_pub > 0)
{
vel_x_pub = 0.05 * trackBar1.Value;
}
else if (vel_x_pub < 0)
{
vel_x_pub = -0.05 * trackBar1.Value;
}
else
{
vel_x_pub = 0;
}
if (vel_y_pub > 0)
{
vel_y_pub = 0.05 * trackBar1.Value;
}
else if (vel_y_pub < 0)
{
vel_y_pub = -0.05 * trackBar1.Value;
}
else
{
vel_y_pub = 0;
}
vel_pub = new geometry.Twist
{
linear = new geometry.Vector3(vel_x_pub, vel_y_pub, 0),
angular = new geometry.Vector3(0, 0, vel_theta_pub)
};
}
private static void SubscriptionCmdVelHandler(geometry.Twist message)
{
geometry.Vector3 vel_linear = message.linear;
geometry.Vector3 vel_angular = message.angular;
vel_x = vel_linear.x;
vel_y = vel_linear.y;
vel_th = vel_angular.z;
}
public void Write(RosSharp.RosBridgeClient.MessageTypes.Geometry.Pose pose, RosSharp.RosBridgeClient.MessageTypes.Geometry.Twist twist)
{
UnityEngine.Vector3 newPosition;
newROSTransformPos = new UnityEngine.Vector3((float)pose.position.x, (float)pose.position.y, (float)pose.position.z);
newROSTransformPos = newROSTransformPos * 1000f;
newPosition = coordinateTargetSelector.transformVectorRos2UnityLocal(newROSTransformPos);
newTargetTransformPos = newPosition;
}
private void button12_Click(object sender, EventArgs e)
{
vel_x_pub = 0.05 * trackBar1.Value * 0;
vel_y_pub = 0.05 * trackBar1.Value * 0;
vel_theta_pub = 0.182 * trackBar2.Value * -1;
vel_pub = new geometry.Twist
{
linear = new geometry.Vector3(vel_x_pub, vel_y_pub, 0),
angular = new geometry.Vector3(0, 0, vel_theta_pub)
};
}
public TwistStamped(Header header, Twist twist)
{
this.header = header;
this.twist = twist;
}
public TwistStamped()
{
this.header = new Header();
this.twist = new Twist();
}
public TwistWithCovariance(Twist twist, double[] covariance)
{
this.twist = twist;
this.covariance = covariance;
}
public TwistWithCovariance()
{
this.twist = new Twist();
this.covariance = new double[36];
}
