public override void OnBridgeSetup(IBridge bridge)
{
string[] values = Topic.Split('/');
string camInfoTopic = "";
// Ex Topic: /camera/long_camera/compressed or /camera/long_camera/raw or /camera/long_camera
if (values[(values.Length - 1)].ToLower() == "compressed" || values[(values.Length - 1)].ToLower() == "raw")
{
//frame_id = values[values.Length - 2];
frame_id = Frame;
for (int i = 0; i < values.Length - 1; i++)
{
camInfoTopic = camInfoTopic + values[i].ToString() + "/";
}
camInfoTopic = camInfoTopic + "camera_info";
}
else
{
//frame_id = values[values.Length - 1];
frame_id = Frame;
camInfoTopic = Topic + "/camera_info";
Topic = Topic + "/compressed"; // Mentioning that, topic contains compressed image.
}
Bridge = bridge;
ImageWriter = bridge.AddWriter <ImageData>(Topic);
StaticTFWriter = bridge.AddWriter <StaticTFData>("/tf_static");
ImageCamInfoWriter = bridge.AddWriter <CameraInfoData>(camInfoTopic);
Vector3 eur = new Vector3(configTransformPITCH, configTransformYAW, configTransformROLL);
TFRranslation = new Vector3(configTransformX, configTransformY, configTransformZ);
TFRotation = Quaternion.Euler(eur);
}
public override void OnBridgeSetup(IBridge bridge)
{
Bridge = bridge;
Writer = Bridge.AddWriter <ImuData>(Topic);
if (!string.IsNullOrEmpty(CorrectedTopic))
{
CorrectedWriter = Bridge.AddWriter <CorrectedImuData>(CorrectedTopic);
}
}
public override void OnBridgeSetup(IBridge bridge)
{
Bridge = bridge;
Writer = bridge.AddWriter <PointCloudData>(Topic);
StaticTFWriter = bridge.AddWriter <StaticTFData>("/tf_static");
Vector3 eur = new Vector3(configTransformPITCH, configTransformYAW, configTransformROLL);
TFRranslation = new Vector3(configTransformX, configTransformY, configTransformZ);
TFRotation = Quaternion.Euler(eur);
string[] values = Topic.Split('/');
//frame_id = values[values.Length - 1];
frame_id = Frame;
}
public override void OnBridgeSetup(IBridge bridge)
{
Bridge = bridge;
Writer = bridge.AddWriter <CanBusData>(Topic);
RigidBody = GetComponentInParent <Rigidbody>();
Actions = GetComponentInParent <VehicleActions>();
Dynamics = GetComponentInParent <VehicleDynamics>();
MapOrigin = MapOrigin.Find();
}
public override void OnBridgeSetup(IBridge bridge)
{
Bridge = bridge;
WriterInsPVA = Bridge.AddWriter <novatelInsPvaData>(TopicInsPVA);
WriterRawImuX = Bridge.AddWriter <novatelRawImuXData>(TopicRawImuX);
WriterMarkCount = Bridge.AddWriter <novatelMarkCountData>(TopicMarkCount);
WriterBestPos = Bridge.AddWriter <novatelBestPosData>(TopicBestPos);
WriterCorrIMU = Bridge.AddWriter <novatelCorrIMUData>(TopicCorrImu);
WriterHeading = Bridge.AddWriter <novatelHeadingData>(TopicHeading);
}
public override void OnBridgeSetup(IBridge bridge)
{
Bridge = bridge;
Writer = Bridge.AddWriter <Detected3DObjectData>(Topic);
}
public override void OnBridgeSetup(IBridge bridge)
{
Bridge = bridge;
ImageWriter = bridge.AddWriter <ImageData>(Topic);
}
public override void OnBridgeSetup(IBridge bridge)
{
Bridge = bridge;
Writer = Bridge.AddWriter <GpsOdometryData>(Topic);
}
public override void OnBridgeSetup(IBridge bridge)
{
Bridge = bridge;
Writer = bridge.AddWriter <PointCloudData>(Topic);
}
public override void OnBridgeSetup(IBridge bridge)
{
Bridge = bridge;
Writer = bridge.AddWriter <CanBusData>(Topic);
}
public override void OnBridgeSetup(IBridge bridge)
{
Bridge = bridge;
Writer = Bridge.AddWriter <SignalDataArray>(Topic);
}