private void OnVehicleCmd(int steer, int accel, int brake, int lamp_l, int lamp_r, int gear, int mode, ROS_MSG_geometry_msgs_Twist twist_cmd, ROS_MSG_autoware_msgs_ControlCommand ctrl_cmd, int emergency) { Vehiche.LinearVelocity = (float)ctrl_cmd.linear_velocity; Vehiche.LinearAcceleration = (float)ctrl_cmd.linear_acceleration; Vehiche.SteeringAngle = -(float)ctrl_cmd.steering_angle; }
public static extern void publish_Twist([MarshalAs(UnmanagedType.LPStr)] string topic, [MarshalAs(UnmanagedType.LPStr)] string frame_id, ROS_MSG_geometry_msgs_Twist twist);