private static void GetArmsPosition()
{
TimeMsg currentTime = ROSTimeHelper.GetCurrentTime();
TFSubscriptionActionGoalMsg msg = new TFSubscriptionActionGoalMsg(new HeaderMsg(1, currentTime, ""),
new GoalIDMsg(currentTime, ROSActionHelper.GenerateUniqueGoalID("robot_radius", ROSTimeHelper.ToSec(currentTime))),
new TFSubscriptionGoalMsg(new List <string>()
{
leftArm.BaseLink, rightArm.BaseLink
}, "marker", 0f, 0f, 1f));
ROSCommunicationManager.Instance.ros.Publish(TF2WebRepublisherGoalPublisher.GetMessageTopic(), msg);
}
public static string ToYAMLString(TFSubscriptionActionGoalMsg msg)
{
return(msg.ToYAMLString());
}