// leave empty or "world" or "map" defaults to world-frame
public LinkState()
{
link_name = string.Empty;
pose = new RosSharp.RosBridgeClient.Messages.Geometry.Pose();
twist = new RosSharp.RosBridgeClient.Messages.Geometry.Twist();
reference_frame = string.Empty;
}
public void stopWalking()
{
msgs.Geometry.Vector3 linear = new msgs.Geometry.Vector3();
msgs.Geometry.Vector3 angular = new msgs.Geometry.Vector3();
msgs.Geometry.Twist message = new msgs.Geometry.Twist();
linear.x = 0.0f;
linear.y = 0.0f;
linear.z = 0.0f;
angular.x = 0.0f;
angular.y = 0.0f;
angular.z = 0.0f;
message.linear = linear;
message.angular = angular;
socket.Publish(publication_id, message);
}
