private IEnumerator SendLaser(ROS ros) { Log("Sending laser to ros.", LogLevel.Developer); while (ros.IsConnected()) { yield return(new WaitForEndOfFrame()); HeaderMsg _head = new HeaderMsg(0, new TimeMsg(DateTime.Now.Second, 0), transform.name); LaserScanMsg scan = new LaserScanMsg(_head, angleMin * Mathf.Deg2Rad, angleMax * Mathf.Deg2Rad, angleIncrement * Mathf.Deg2Rad, 0, 0, rangeMin, rangeMax, Scan(), new double[0]); ros.Publish(LaserScan_pub.GetMessageTopic(), scan); yield return(new WaitForSeconds(ROSFrecuency)); } }
public static string ToYAMLString(LaserScanMsg msg) { return(msg.ToYAMLString()); }