IEnumerator SendImu() { yield return(new WaitForEndOfFrame()); var now = DateTime.Now; var timeSpan = now - lastFrame; var timeSinceStart = now - camStart; var timeMessage = new TimeMsg(timeSinceStart.Seconds, timeSinceStart.Milliseconds); var headerMessage = new HeaderMsg(count, timeMessage, "imu"); Quaternion vehicleImu; vehicleImu = vehicle.transform.rotation; double xey = vehicleImu.x; double yey = vehicleImu.y; double zey = vehicleImu.z; double wey = vehicleImu.w; var imuData = new QuaternionMsg(xey, yey, zey, wey); double[] arg3 = { 0.00, 0.00, 0.00 }; var vect3 = new Vector3Msg(0.00, 0.00, 0.00); var imumessage = new ImuMessage(headerMessage, imuData, arg3, vect3, arg3, vect3, arg3); ros.Publish(imuPublisher.GetMessageTopic(), imumessage); ros.Render(); }
public void PublishData(Texture2D texture2D, int qualityLevel, int sequenceId) { HeaderMsg header = new HeaderMsg(sequenceId, new TimeMsg(0, 0), "raspicam"); CompressedImageMsg imageMsg = new CompressedImageMsg(header, "jpg", texture2D.EncodeToJPG(qualityLevel)); _publisher.PublishData(imageMsg); }
public OdometryMsg(PoseWithCovarianceMsg pose) { _header = new HeaderMsg(0, new TimeMsg(0, 0), "0"); _child_frame_id = "0"; _pose = pose; _twist = new TwistWithCovarianceMsg(new TwistMsg(new Vector3Msg(0, 0, 0), new Vector3Msg(0, 0, 0)), new double[36]); }
public CompressedImageMsg(HeaderMsg header, string format, byte[] data) { _header = header; _format = format; _data = data; }
IEnumerator SendImage() { yield return(new WaitForEndOfFrame()); int width = 640; int height = 480; Texture2D tex = new Texture2D(width, height, TextureFormat.RGB24, false); tex.ReadPixels(new Rect(0, 0, width, height), 0, 0); tex.Apply(); byte[] data = tex.EncodeToJPG(); var now = DateTime.Now; var timeSpan = now - lastFrame; var timeSinceStart = now - camStart; var timeMessage = new TimeMsg(timeSinceStart.Seconds, timeSinceStart.Milliseconds); var headerMessage = new HeaderMsg(count, timeMessage, "camera"); Debug.Log("data length: " + data.Length); string format = "jpeg"; var compressedImageMsg = new CompressedImageMsg(headerMessage, format, data); Debug.Log(compressedImageMsg); ros.Publish(CompressedImagePublisher.GetMessageTopic(), compressedImageMsg); Destroy(tex); ros.Render(); }
public RNDataMsg(JSONNode node) { header = new HeaderMsg(node["header"]); width = node["width"].AsInt; is_bigendian = node["is_bigendian"].AsBool; point_step = node["point_step"].AsInt; scalar_step = node["scalar_step"].AsInt; is_dense = node["is_dense"].AsBool; JSONArray fields_arr = node["fields"].AsArray; fields = new RNPointFieldMsg[fields_arr.Count]; for (int i = 0; i < fields.Length; i++) { fields[i] = new RNPointFieldMsg(fields_arr[i]); } fields_arr = node["scalar_fields"].AsArray; scalar_fields = new RNPointFieldMsg[fields_arr.Count]; for (int i = 0; i < scalar_fields.Length; i++) { scalar_fields[i] = new RNPointFieldMsg(fields_arr[i]); } data = ROSBridgeUtils.ParseJSONRawData(node["data"], is_bigendian); }
void Update() { ros.Render(); if (!_running) { return; } timer -= Time.deltaTime; if (timer <= 0) { timer = pollRate; PointMsg point = new PointMsg(1, 2, 3); QuaternionMsg quat = new QuaternionMsg(1, 2, 3, 4); PoseMsg pose = new PoseMsg(point, quat); PoseWithCovarianceMsg posec = new PoseWithCovarianceMsg(pose); Vector3Msg vec3 = new Vector3Msg(1, 2, 3); TwistMsg twist = new TwistMsg(vec3, vec3); TwistWithCovarianceMsg twistc = new TwistWithCovarianceMsg(twist, new double[36]); HeaderMsg header = new HeaderMsg(1, new TimeMsg(1, 1), "0"); PoseStampedMsg ps = new PoseStampedMsg(header, pose); PathMsg msg = new PathMsg(header, new PoseStampedMsg[] { ps, ps, ps }); BoolMsg boolmsg = new BoolMsg(true); StringMsg str = new StringMsg("This is a test"); RegionOfInterestMsg roi = new RegionOfInterestMsg(0, 1, 2, 3, true); CameraInfoMsg caminfo = new CameraInfoMsg(header, 100, 200, "plumb_bob", new double[5], new double[9], new double[9], new double[12], 14, 123, roi); _genericPub.PublishData(caminfo); } }
public OdometryMsg(HeaderMsg header, string child_frame_id, PoseWithCovarianceMsg pose, TwistWithCovarianceMsg twist) { _header = header; _child_frame_id = child_frame_id; _pose = pose; _twist = twist; }
public void SetTFTrackingSettings(TFTrackingSettings tfTrackingType, HeaderMsg headerMsg) { switch (tfTrackingType.type) { case TFTrackingType.Exact: { TFFrame frame = TFSystem.instance.GetTransform(headerMsg, tfTrackingType.tfTopic); transform.position = frame.translation; transform.rotation = frame.rotation; } break; case TFTrackingType.TrackLatest: { transform.parent = TFSystem.instance.GetTransformObject(headerMsg.frame_id, tfTrackingType.tfTopic).transform; transform.localPosition = Vector3.zero; transform.localRotation = Quaternion.identity; } break; case TFTrackingType.None: transform.localPosition = Vector3.zero; transform.localRotation = Quaternion.identity; break; } }
public CameraInfoMsg(JSONNode msg) { _header = new HeaderMsg(msg["header"]); _height = uint.Parse(msg["height"]); _distortion_model = msg["distortion_model"]; _d = new double[msg["D"].Count]; _k = new double[msg["K"].Count]; _r = new double[msg["R"].Count]; _p = new double[msg["P"].Count]; for (int i = 0; i < msg["D"].Count; i++) { _d[i] = double.Parse(msg["D"][i], CultureInfo.InvariantCulture); } for (int i = 0; i < msg["K"].Count; i++) { _k[i] = double.Parse(msg["K"][i], CultureInfo.InvariantCulture); } for (int i = 0; i < msg["R"].Count; i++) { _r[i] = double.Parse(msg["R"][i], CultureInfo.InvariantCulture); } for (int i = 0; i < msg["P"].Count; i++) { _p[i] = double.Parse(msg["P"][i], CultureInfo.InvariantCulture); } _binning_x = uint.Parse(msg["binning_x"], CultureInfo.InvariantCulture); _binning_y = uint.Parse(msg["binning_y"], CultureInfo.InvariantCulture); _roi = new RegionOfInterestMsg(msg["roi"]); }
public OdometryMsg(JSONNode msg) { _header = new HeaderMsg(msg["header"]); _child_frame_id = msg["child_frame_id"]; _pose = new PoseWithCovarianceMsg(msg["pose"]); _twist = new TwistWithCovarianceMsg(msg["twist"]); }
private IEnumerator SendPathToROS(ROS ros) { while (Application.isPlaying) { if (ros.IsConnected()) { Vector3[] points = agent.path.corners; PoseStampedMsg[] poses = new PoseStampedMsg[points.Length]; HeaderMsg head = new HeaderMsg(0, new TimeMsg(DateTime.Now.Second, 0), "map"); Quaternion rotation = transform.rotation; for (int i = 0; i < points.Length; i++) { head.SetSeq(i); if (i > 0) { rotation = Quaternion.FromToRotation(points[i - 1], points[i]); } poses[i] = new PoseStampedMsg(head, new PoseMsg(points[i], rotation, true)); } HeaderMsg globalHead = new HeaderMsg(0, new TimeMsg(DateTime.Now.Second, 0), "map"); PathMsg pathmsg = new PathMsg(globalHead, poses); ros.Publish(Path_pub.GetMessageTopic(), pathmsg); } yield return(new WaitForSeconds(rOSFrecuencyPath)); } }
public override void Deserialize(JSONNode msg) { _header = new HeaderMsg(msg["header"]); _child_frame_id = msg["child_frame_id"].ToString(); _pose = new PoseWithCovarianceMsg(msg["pose"]); _twist = new TwistWithCovarianceMsg(msg["twist"]); }
public BatteryStateMsg(JSONNode msg) { _header = new HeaderMsg(msg["header"]); if (!msg["capacity"].Value.Equals("null")) { _capacity = float.Parse(msg["capacity"], System.Globalization.CultureInfo.InvariantCulture); } if (!msg["charge"].Value.Equals("null")) { _charge = float.Parse(msg["charge"], System.Globalization.CultureInfo.InvariantCulture); } _current = float.Parse(msg["current"], System.Globalization.CultureInfo.InvariantCulture); _design_capacity = float.Parse(msg["design_capacity"], System.Globalization.CultureInfo.InvariantCulture); if (!msg["percentage"].Value.Equals("null")) { _percentage = float.Parse(msg["percentage"], System.Globalization.CultureInfo.InvariantCulture); } _voltage = float.Parse(msg["voltage"], System.Globalization.CultureInfo.InvariantCulture); _cell_voltage = new float[msg["cell_voltage"].Count]; for (int i = 0; i < _cell_voltage.Length; i++) { _cell_voltage[i] = float.Parse(msg["cell_voltage"][i], System.Globalization.CultureInfo.InvariantCulture); } _location = msg["location"]; _power_supply_health = uint.Parse(msg["power_supply_health"]); _power_supply_status = uint.Parse(msg["power_supply_status"]); _power_supply_technology = uint.Parse(msg["power_supply_technology"]); _present = bool.Parse(msg["present"]); _serial_number = msg["serial_number"]; }
public PathMsg(JSONNode msg) { _header = new HeaderMsg(msg["header"]); for (int i = 0; i < msg["poses"].Count; i++) { _poses[i] = (new PoseStampedMsg(msg["poses"][i])); } }
/** * C-tor with a member list */ public JointStateMsg(HeaderMsg h, string [] n, float [] p, float [] v, float [] e) { _header = h; _name = n; _position = p; _velocity = v; _effort = e; }
public static void GUI(this HeaderMsg message) { #if !ROS2 GUILayout.Label($"<{message.seq} {message.frame_id} {message.stamp.ToTimestampString()}>"); #else GUILayout.Label($"<{message.frame_id} {message.stamp.ToTimestampString()}>"); #endif }
public OctomapMsg() { this.header = new HeaderMsg(); this.binary = false; this.id = ""; this.resolution = 0.0; this.data = new sbyte[0]; }
public BodyVelocityRequestMsg(JSONNode msg) { // parse message fields into class data _header = new HeaderMsg(msg["header"]); _goal = new GoalDescriptorMsg(msg["goal"]); _twist = new TwistMsg(msg["twist"]); _disable_axis = new Bool6AxisMsg(msg["disable_axis"]); }
public VelocityMsg(HeaderMsg header, double axis_x, double axis_y, double axis_z, double yaw) { _header = header; _axis_x = new Float64Msg(axis_x); _axis_y = new Float64Msg(axis_y); _axis_z = new Float64Msg(axis_z); _yaw = new Float64Msg(yaw); }
private OctomapMsg(MessageDeserializer deserializer) { this.header = HeaderMsg.Deserialize(deserializer); deserializer.Read(out this.binary); deserializer.Read(out this.id); deserializer.Read(out this.resolution); deserializer.Read(out this.data, sizeof(sbyte), deserializer.ReadLength()); }
public OctomapMsg(HeaderMsg header, bool binary, string id, double resolution, sbyte[] data) { this.header = header; this.binary = binary; this.id = id; this.resolution = resolution; this.data = data; }
public DetectionArrayMsg(JSONNode msg) { header = new HeaderMsg(msg["header"]); origin = new PoseMsg(msg["origin"]); detections = new DetectionMsg[msg["detections"].Count]; for (int i = 0; i < detections.Length; i++) { detections[i] = new DetectionMsg(msg["detections"][i]); } }
public ImageMsg(HeaderMsg header, uint height, uint width, string encoding, bool is_bigendian, uint row_step, byte[] data) { _header = header; _height = height; _width = width; _encoding = encoding; _is_bigendian = is_bigendian; _row_step = row_step; }
public PeopleGoalArrayMsg(JSONNode msg) { _header = new HeaderMsg(msg["header"]); _users = new PersonGoalMsg[msg["users"].Count]; for (int i = 0; i < _users.Length; i++) { _users[i] = new PersonGoalMsg(msg["users"][i]); } }
public override void Deserialize(JSONNode msg) { _header = new HeaderMsg(msg["header"]); // Treat poses for (int i = 0; i < msg["poses"].Count; i++) { _poses.Add(new PoseStampedMsg(msg["poses"][i])); } }
public SemanticObjectArrayMsg(JSONNode msg) { _header = new HeaderMsg(msg["header"]); _semanticObjects = new SemanticObjectMsg[msg["semanticObjects"].Count]; for (int i = 0; i < _semanticObjects.Length; i++) { _semanticObjects[i] = new SemanticObjectMsg(msg["semanticObjects"][i]); } }
public override void Deserialize(JSONNode msg) { _header = new HeaderMsg(msg ["header"]); _range = float.Parse(msg ["range"]); _min_range = float.Parse(msg ["min_range"]); _max_range = float.Parse(msg ["max_range"]); _radiation_type = uint.Parse(msg ["radiation_type"]); _field_of_view = float.Parse(msg ["field_of_view"]); }
public RangeMsg(HeaderMsg header, float range, float min_range, float max_range, float field_of_view, uint radiation_type) { _header = header; _range = range; _min_range = min_range; _max_range = max_range; _field_of_view = field_of_view; _radiation_type = radiation_type; }
public RangeMsg(JSONNode msg) { _header = new HeaderMsg(msg ["header"]); _range = float.Parse(msg ["range"]); _min_range = float.Parse(msg ["min_range"]); _max_range = float.Parse(msg ["max_range"]); _radiation_type = uint.Parse(msg ["radiation_type"]); _field_of_view = float.Parse(msg ["field_of_view"]); }
protected void PreloadStrings(Stream input) { try { if (Strings.Count > 0) Strings.Clear(); _bundleFileHeader = input.ReadStruct<FileHeaderStruct>(); if (_bundleFileHeader.Magic != GETTEXT_MAGIC) throw new IOException("Invalid MAGIC"); var originalHeaders = ReadStringHeaders(input, _bundleFileHeader.OriginalTableOffset, _bundleFileHeader.NumberOfStrings); var translationHeaders = ReadStringHeaders(input, _bundleFileHeader.TranslationTableOffset, _bundleFileHeader.NumberOfStrings); var originals = new string[_bundleFileHeader.NumberOfStrings][]; var translations = new string[_bundleFileHeader.NumberOfStrings][]; for (var x = 0; x < _bundleFileHeader.NumberOfStrings; x++) originals[x] = ReadTextEntry(input, originalHeaders[x].Offset, originalHeaders[x].Length); for (var x = 0; x < _bundleFileHeader.NumberOfStrings; x++) translations[x] = ReadTextEntry(input, translationHeaders[x].Offset, translationHeaders[x].Length); for (var x = 0; x < _bundleFileHeader.NumberOfStrings; x++) { switch (originals[x].Length) { case 1: Strings.TryAdd(originals[x][0], translations[x]); break; case 2: Strings.TryAdd(originals[x][0], new[] {translations[x][0]}); Strings.TryAdd(originals[x][1], translations[x]); break; } } } finally { _headerMsg = new HeaderMsg(GetString(string.Empty)); } }