void Awake()
{
List <UnityEngine.Transform> localLinkList = HSRCommon.GetLinksInChildren(this.transform.root);
foreach (UnityEngine.Transform localLink in localLinkList)
{
TransformStamped localTransformStamped = new TransformStamped();
localTransformStamped.header.frame_id = localLink.parent.name;
localTransformStamped.child_frame_id = localLink.name;
TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped);
this.localTfInfoList.Add(localTfInfo);
}
this.publishSequenceNumber = HSRPubSynchronizer.GetAssignedSequenceNumber();
}
void Awake()
{
List <UnityEngine.Transform> localLinkList = HSRCommon.GetLinksInChildren(this.transform.root);
foreach (UnityEngine.Transform localLink in localLinkList)
{
if (localLink.name == HSRCommon.Link.base_footprint.ToString())
{
TransformStamped localTransformStamped = new TransformStamped();
localTransformStamped.header.frame_id = HSRCommon.OdomName;
localTransformStamped.child_frame_id = localLink.name;
UnityEngine.Transform baseFootprintRigidbody = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintRigidbodyName);
TfInfo localTfInfo = new TfInfo(baseFootprintRigidbody, localTransformStamped);
this.localTfInfoList.Add(localTfInfo);
}
else
{
TransformStamped localTransformStamped = new TransformStamped();
localTransformStamped.header.frame_id = localLink.parent.name;
localTransformStamped.child_frame_id = localLink.name;
TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped);
this.localTfInfoList.Add(localTfInfo);
}
}
this.synchronizer = this.GetComponent <HSRPubSynchronizer>();
this.publishSequenceNumber = this.synchronizer.GetAssignedSequenceNumber();
this.isUsingThread = this.synchronizer.useThread;
}
