private IEnumerator SendLaser(ROS ros)
{
Log("Sending laser to ros.", LogLevel.Developer);
while (ros.IsConnected())
{
yield return(new WaitForEndOfFrame());
HeaderMsg _head = new HeaderMsg(0, new TimeMsg(DateTime.Now.Second, 0), transform.name);
LaserScanMsg scan = new LaserScanMsg(_head, angleMin * Mathf.Deg2Rad, angleMax * Mathf.Deg2Rad, angleIncrement * Mathf.Deg2Rad, 0, 0, rangeMin, rangeMax, Scan(), new double[0]);
ros.Publish(LaserScan_pub.GetMessageTopic(), scan);
yield return(new WaitForSeconds(ROSFrecuency));
}
}
public static string ToYAMLString(LaserScanMsg msg)
{
return(msg.ToYAMLString());
}
