private void Update()
{
//Topicで指定された感情のGameObjectを表示
if (State_change)
{
Destroy(target);
target = generate_gameobject(current_state, target);
State_change = false;
}
//上で表示したGameObjectをHSRの頭部部分に移動させる
if (subscribed && target != null)
{
torso_tf = tf.torso_lift_link;
base_foot_tf = tf.base_footprint;
position.y = torso_tf.transform.translation.z + 0.21f;
position.x = -(base_foot_tf.pose.position.y + 0.02f);
position.z = base_foot_tf.pose.position.x - 0.06f;
target.transform.localPosition = position;
}
}
private void ReceiveMessage(object sender, MessageEventArgs e)
{
odometryData = ((GeometryTransformStamped)e.Message);
isMessageReceived = true;
}
