public void ReceiveTF_SingleMessage_ReturnsSameTranslation()
{
ROSConnection ros = ROSConnection.GetOrCreateInstance();
ros.ConnectOnStart = false;
TFSystem system = TFSystem.GetOrCreateInstance();
TFSystem.TFTopicState topic = system.GetOrCreateTFTopic();
TFStream stream = system.GetOrCreateFrame(simple_frame_id);
TimeMsg time = MakeTimeMsg(4567, 890);
Vector3 unityPosition = new Vector3(1, 2, 3);
topic.ReceiveTF(new TFMessageMsg(new TransformStampedMsg[] { new TransformStampedMsg(
MakeHeaderMsg(time, parent_frame_id),
simple_frame_id,
new TransformMsg(unityPosition.To <FLU>(), new QuaternionMsg()
)) }));
TFFrame frame = stream.GetWorldTF(time.ToLongTime());
Assert.AreEqual(frame.translation.x, unityPosition.x);
Assert.AreEqual(frame.translation.y, unityPosition.y);
Assert.AreEqual(frame.translation.z, unityPosition.z);
}
public TFTopicState(string tfTopic = "/tf")
{
m_TFTopic = tfTopic;
ROSConnection.GetOrCreateInstance().Subscribe <TFMessageMsg>(tfTopic, ReceiveTF);
}
void Start()
{
// start the ROS connection
ros = ROSConnection.GetOrCreateInstance();
ros.RegisterPublisher <PosRotMsg>(topicName);
}
void Start()
{
ros = ROSConnection.GetOrCreateInstance();
ros.RegisterRosService <PositionServiceRequest, PositionServiceResponse>(serviceName);
destination = cube.transform.position;
}
public PrefabVisual(string topic, GameObject prefab)
{
m_Prefab = prefab;
ROSConnection.GetOrCreateInstance().Subscribe <PoseMsg>(topic, AddMessage);
}
void Start()
{
// Get ROS connection static instance
m_Ros = ROSConnection.GetOrCreateInstance();
m_Ros.Subscribe <RobotMoveActionGoal>(rosRobotCommandsTopicName, ExecuteRobotCommands);
}
public void SetUp()
{
m_Cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
m_Ros = ROSConnection.GetOrCreateInstance();
m_Ros.listenForTFMessages = false;
}
// Start is called before the first frame update
void Start()
{
ROSConnection.GetOrCreateInstance().Subscribe <RosTFMessage>("/tf", TFChange);
}
void Start()
{
// register the service with ROS
ROSConnection.GetOrCreateInstance().ImplementService <ObjectPoseServiceRequest, ObjectPoseServiceResponse>(m_ServiceName, GetObjectPose);
}
// Start is called before the first frame update
void Start()
{
ROSConnection.GetOrCreateInstance().Subscribe <RosOdom>("/odom", OdomChange);
}
void Start()
{
ROSConnection.GetOrCreateInstance().Subscribe <RosColor>("color", ColorChange);
}
