void Start()
{
odometryPublisher = node.CreatePublisher <nav_msgs.msg.Odometry>(OdometryTopic);
tfPublisher = node.CreatePublisher <tf2_msgs.msg.TFMessage>(TfTopic);
clock = new rclcs.Clock();
odometryMsg = new nav_msgs.msg.Odometry();
odometryMsg.header.frame_id = "/odom";
odometryMsg.child_frame_id = "/base_footprint";
robotPose = odometryMsg.pose;
robotTwist = odometryMsg.twist;
tfMsg = new tf2_msgs.msg.TFMessage();
tfMsg.transforms_init(1);
tfTransformStamped = tfMsg.transforms[0];
tfTransformStamped.header.frame_id = "/odom";
tfTransformStamped.child_frame_id = "/base_footprint";
odometryMsg.pose.covariance = poseCovarianceDiagonal.CovarianceMatrixFromDiagonal();
odometryMsg.twist.covariance = twistCovarianceDiagonal.CovarianceMatrixFromDiagonal();
if (BaseRigidbody == null)
{
BaseRigidbody = GetComponentInChildren <Rigidbody>();
}
}
void Start()
{
jointStateMsg = new sensor_msgs.msg.JointState();
jointStatePublisher = node.CreatePublisher <sensor_msgs.msg.JointState>(JointStateTopicName);
clock = new rclcs.Clock();
}
private void Init()
{
CreateRosContext();
Clock = new rclcs.Clock();
}