void Start()
{
foreach (TfFrame tfFrame in GetComponentsInChildren <TfFrame>())
{
tfFrameDict.Add(TfNamespace + tfFrame.ChildFrameId, tfFrame);
}
QualityOfServiceProfile qos = new QualityOfServiceProfile(QosProfiles.SENSOR_DATA);
Subscription <tf2_msgs.msg.TFMessage> tfSubscription = node.CreateSubscription <tf2_msgs.msg.TFMessage>(
"/tf", (msg) =>
{
UpdateTransforms(msg);
},
qos);
Subscription <tf2_msgs.msg.TFMessage> tfStaticSubscription = node.CreateSubscription <tf2_msgs.msg.TFMessage>(
"/tf_static", (msg) =>
{
UpdateTransforms(msg);
}
);
}
public void SubscriptionQosSensorDataDepth()
{
int count = 0;
QualityOfServiceProfile qosProfile = new QualityOfServiceProfile(QosProfiles.SENSOR_DATA);
node.CreateSubscription <std_msgs.msg.Int32>("subscription_test_topic",
(msg) => { count += 1; },
qosProfile);
std_msgs.msg.Int32 published_msg = new std_msgs.msg.Int32();
published_msg.data = 42;
for (int i = 0; i < 6; i++)
{
publisher.Publish(published_msg);
}
for (int i = 0; i < 11; i++)
{
Rclcs.SpinOnce(node, 0.1);
}
Assert.That(count, Is.EqualTo(5));
}
