private void InitializeMessage() { clock = new MessageTypes.Rosgraph.Clock(); stamp = new MessageTypes.Std.Time(); // Debug.Log(stamp); }
public virtual void Now(MessageTypes.Std.Time stamp) { uint secs; uint nsecs; Now(out secs, out nsecs); stamp.secs = secs; stamp.nsecs = nsecs; }
public virtual MessageTypes.Std.Time Now() { MessageTypes.Std.Time stamp = new MessageTypes.Std.Time(); float time = Time.realtimeSinceStartup; stamp.secs = (uint)time; stamp.nsecs = (uint)(1e9 * (time - stamp.secs)); return(stamp); }
public void SendSynchronizedMessage(MessageTypes.Std.Time synchronized_time) { Debug.Log("IMU:Send Sync Messages..." + message.header.stamp); //+message.header.stamp); /*** to adapt to new ros# new version * message.header.TimeSynchronization(synchronized_time); * message.orientation = GetGeometryQuaternion(rb.rotation.Unity2Ros()); * message.orientation_covariance = new double[] {1,0,0,0,1,0,0,0,1}; * message.angular_velocity= GetGeometryVector3(rb.angularVelocity.Unity2Ros()); * message.angular_velocity_covariance = new double[] {1,0,0,0,1,0,0,0,1}; * Vector3 distancePerFrame = rb.position - lastPos; * lastPos = rb.position; * Vector3 speed = distancePerFrame * Time.deltaTime; * message.linear_acceleration= GetGeometryVector3(speed.Unity2Ros()); * message.linear_acceleration_covariance = new double[] {1,0,0,0,1,0,0,0,1}; * * Publish(message); ***/ }
protected override void ReceiveMessage(GoalID message) { this.id = message.id; this.stamp = message.stamp; parseValues(); }
public virtual void Now(MessageTypes.Std.Time stamp) { Now(out stamp.secs, out stamp.nsecs); }