public void Write(Messages.Sensor.LaserScan laserScan)
{
ranges = new float[laserScan.ranges.Length];
directions = new Vector3[laserScan.ranges.Length];
range_max = laserScan.range_max;
range_min = laserScan.range_min;
for (int i = 0; i < laserScan.ranges.Length; i++)
{
ranges[i] = laserScan.ranges[i];
directions[i] = new Vector3(Mathf.Cos(laserScan.angle_min + laserScan.angle_increment * i), Mathf.Sin(laserScan.angle_min + laserScan.angle_increment * i), 0).Ros2Unity();
}
isReceived = true;
}
public void Write(Messages.Sensor.LaserScan laserScan)
{
try
{
Debug.Log("Writing new LaserScan message");
ranges = new float[laserScan.ranges.Length];
directions = new Vector3[laserScan.ranges.Length];
range_max = laserScan.range_max;
range_min = laserScan.range_min;
for (int i = 0; i < laserScan.ranges.Length; i++)
{
ranges[i] = laserScan.ranges[i];
directions[i] = new Vector3(Mathf.Cos(laserScan.angle_min + laserScan.angle_increment * i), Mathf.Sin(laserScan.angle_min + laserScan.angle_increment * i), 0).Ros2Unity();
}
isReceived = true;
}
catch (Exception e)
{
Debug.Log(e.ToString());
}
}