void init()
{
publisher_lidar_1 = Net2.Publisher("lidar_1");
publisher_camera_color = Net2.Publisher("camera_color");
subscriber_cmd_vel = Net2.Subscriber("rrs_ros-cmd_vel");
subscriber_cmd_vel.delegateNewData += Subscriber_cmd_vel_delegateNewData;
//Sensors
//color_camera.delegateCameraDataChanged += Color_camera_delegateCameraDataChanged;
lidar.delegateLidarDataChanged += Lidar_delegateLidarDataChanged;
}
//Unity Benchamark Report
//ROS2
//ROS#
void init()
{
//Initialization
publisher_lidar_net2 = Net2.Publisher("lidar");
publisher_camera_rgb_net2 = Net2.Publisher("camera_color");
publisher_camera_depth_net2 = Net2.Publisher("camera_depth");
publisher_imu_net2 = Net2.Publisher("imu");
color_camera.delegateCameraDataChanged += Color_camera_delegateCameraDataChanged;
depth_camera.delegateCameraDataChanged += Depth_camera_delegateCameraDataChanged;
imu.delegateIMUDataChanged += Imu_delegateIMUDataChanged;
lidar.delegateLidarDataChanged += Lidar_delegateLidarDataChanged;
}
void init()
{
initJointsConfig();
d_joints = new float[joint_numbers];
c_joints = new float[joint_numbers];
publisher_joint_state = Net2.Publisher("joint_state");
publisher_lidar_front = Net2.Publisher("lidar_front");
publisher_lidar_rear = Net2.Publisher("lidar_rear");
publisher_camera_color = Net2.Publisher("camera_color");
publisher_camera_info = Net2.Publisher("camera_info");
publisher_camera_depth = Net2.Publisher("camera_depth");
publisher_camera_segment = Net2.Publisher("camera_segment");
publisher_camera_normal = Net2.Publisher("camera_normal");
publisher_groundtruth = Net2.Publisher("groundtruth");
publisher_imu = Net2.Publisher("imu");
publisher_odometry = Net2.Publisher("odometry");
publisher_tf = Net2.Publisher("tf");
subscriber_cmd_vel = Net2.Subscriber("rrs_ros-cmd_vel");
subscriber_cmd_vel.delegateNewData += Subscriber_cmd_vel_delegateNewData;
subscriber_planner_viz = Net2.Subscriber("rrs_ros-planner_viz");
subscriber_planner_viz.delegateNewData += Subscriber_planner_viz_delegateNewData;
subscriber_rrs_command = Net2.Subscriber("rrs_ros-rrs_command");
subscriber_rrs_command.delegateNewData += Subscriber_rrs_command_delegateNewData;
subscriber_rrs_joint_command = Net2.Subscriber("rrs_ros-joint_command");
subscriber_rrs_joint_command.delegateNewData += Subscriber_rrs_joint_command_delegateNewData;
//Sensors
color_camera.delegateCameraDataChanged += Color_camera_delegateCameraDataChanged;
depth_camera.delegateCameraDataChanged += Depth_camera_delegateCameraDataChanged;
segment_camera.delegateCameraDataChanged += Segment_camera_delegateCameraDataChanged;
normal_camera.delegateCameraDataChanged += Normal_camera_delegateCameraDataChanged;
imu.delegateIMUDataChanged += Imu_delegateIMUDataChanged;
lidar_front.delegateLidarDataChanged += Lidar_front_delegateLidarDataChanged;
lidar_rear.delegateLidarDataChanged += Lidar_rear_delegateLidarDataChanged;
}
