public void sendPingerPos()
{
Vector3 posTmp = pinger.transform.position;
Quaternion rotTmp = pinger.transform.rotation;
pingerPoint = new PointMsg(posTmp.x, posTmp.y, posTmp.z);
pingerQuaternion = new QuaternionMsg(rotTmp.x, rotTmp.y, rotTmp.z, rotTmp.w);
pingerMsg = new PoseMsg(pingerPoint, pingerQuaternion);
obj.GetComponent <ROSInitializerSAUVC>().rosSAUVC.Publish(PingerPublisher.GetMessageTopic(), pingerMsg);
}
void Update()
{
try
{
float p = PingerAngle();
pingermsg = new Float32Msg(p);
obj.GetComponent <ROS_Initialize>().ros.Publish(PingerPublisher.GetMessageTopic(), pingermsg);
/* Debug.Log("Sending: PingerAngle = " + p);
* Debug.Log("Sending to topic: " + PingerPublisher.GetMessageTopic());
*/
}
catch (Exception e)
{
Debug.Log("Socket error: " + e);
}
}
