/// <summary>
/// Sends a message to the simualation to apply an external force on a certain position.
/// </summary>
/// <param name="roboyPart">The roboypart where the force should be applied.</param>
/// <param name="position">The relative position of the force to the roboypart.</param>
/// <param name="force">The direction and the amount of force relative to roboypart.</param>
/// <param name="duration">The duration for which the force should be applied.</param>
public void ReceiveExternalForce(RoboyPart roboyPart, Vector3 position, Vector3 force, int duration)
{
ROSBridgeLib.custom_msgs.ExternalForceMsg msg =
new ROSBridgeLib.custom_msgs.ExternalForceMsg(roboyPart.gameObject.name, unityPositionToGazebo(position), unityPositionToGazebo(force), duration);
m_Ros.Publish(RoboyPosePublisher.GetMessageTopic(), msg);
//Debug.Log(msg.ToYAMLString());
}
public static string ToYAMLString(ROSBridgeLib.custom_msgs.ExternalForceMsg msg)
{
return(msg.ToYAMLString());
}