void Awake() { List <UnityEngine.Transform> localLinkList = PR2Common.GetLinksInChildren(this.transform.root); foreach (UnityEngine.Transform localLink in localLinkList) { if (localLink.name == PR2Common.Link.base_footprint.ToString()) { TransformStamped localTransformStamped = new TransformStamped(); localTransformStamped.header.frame_id = PR2Common.OdomName; localTransformStamped.child_frame_id = localLink.name; TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped); this.localTfInfoList.Add(localTfInfo); } else { TransformStamped localTransformStamped = new TransformStamped(); localTransformStamped.header.frame_id = localLink.parent.name; localTransformStamped.child_frame_id = localLink.name; TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped); this.localTfInfoList.Add(localTfInfo); } } this.synchronizer = this.GetComponent <PR2PubSynchronizer>(); this.publishSequenceNumber = this.synchronizer.GetAssignedSequenceNumber(); this.isUsingThread = this.synchronizer.useThread; }
void Awake() { List <UnityEngine.Transform> localLinkList = HSRCommon.GetLinksInChildren(this.transform.root); foreach (UnityEngine.Transform localLink in localLinkList) { TransformStamped localTransformStamped = new TransformStamped(); localTransformStamped.header.frame_id = localLink.parent.name; localTransformStamped.child_frame_id = localLink.name; TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped); this.localTfInfoList.Add(localTfInfo); } this.publishSequenceNumber = HSRPubSynchronizer.GetAssignedSequenceNumber(); }
void Awake() { List <UnityEngine.Transform> localLinkList = TurtleBot3Common.GetLinksInChildren(this.transform.root); foreach (UnityEngine.Transform localLink in localLinkList) { TransformStamped localTransformStamped = new TransformStamped(); localTransformStamped.header.frame_id = localLink.parent.name; localTransformStamped.child_frame_id = localLink.name; TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped); this.localTfInfoList.Add(localTfInfo); this.synchronizer = this.GetComponent <TurtleBot3PubSynchronizer>(); this.publishSequenceNumber = this.synchronizer.GetAssignedSequenceNumber(); this.isUsingThread = this.synchronizer.useThread; } }
protected List <UnityEngine.Transform> linkList; // link list of the robot protected virtual void Awake() { this.InitializeVariables(); foreach (UnityEngine.Transform link in this.linkList) { if (link.name == this.baseFootprintName) { TransformStamped localTransformStamped = new TransformStamped(); localTransformStamped.header.frame_id = this.odomName; localTransformStamped.child_frame_id = link.name; UnityEngine.Transform baseFootprintRigidbody = SIGVerseUtils.FindTransformFromChild(this.transform.root, this.baseFootprintRigidbodyName); TfInfo localTfInfo = new TfInfo(baseFootprintRigidbody, localTransformStamped); this.localTfInfoList.Add(localTfInfo); } else { TransformStamped localTransformStamped = new TransformStamped(); localTransformStamped.header.frame_id = link.parent.name; localTransformStamped.child_frame_id = link.name; TfInfo localTfInfo = new TfInfo(link, localTransformStamped); this.localTfInfoList.Add(localTfInfo); } } this.synchronizer = this.GetComponent <RobotPubSynchronizer>(); this.publishSequenceNumber = this.synchronizer.GetAssignedSequenceNumber(); this.isUsingThread = this.synchronizer.useThread; }
void Awake() { List <UnityEngine.Transform> localLinkList = HSRCommon.GetLinksInChildren(this.transform.root); foreach (UnityEngine.Transform localLink in localLinkList) { if (localLink.name == HSRCommon.Link.base_footprint.ToString()) { TransformStamped localTransformStamped = new TransformStamped(); localTransformStamped.header.frame_id = HSRCommon.OdomName; localTransformStamped.child_frame_id = localLink.name; UnityEngine.Transform baseFootprintRigidbody = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintRigidbodyName); TfInfo localTfInfo = new TfInfo(baseFootprintRigidbody, localTransformStamped); this.localTfInfoList.Add(localTfInfo); } else { TransformStamped localTransformStamped = new TransformStamped(); localTransformStamped.header.frame_id = localLink.parent.name; localTransformStamped.child_frame_id = localLink.name; TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped); this.localTfInfoList.Add(localTfInfo); } } this.synchronizer = this.GetComponent <HSRPubSynchronizer>(); this.publishSequenceNumber = this.synchronizer.GetAssignedSequenceNumber(); this.isUsingThread = this.synchronizer.useThread; }