private void Update() { //Topicで指定された感情のGameObjectを表示 if (State_change) { Destroy(target); target = generate_gameobject(current_state, target); State_change = false; } //上で表示したGameObjectをHSRの頭部部分に移動させる if (subscribed && target != null) { torso_tf = tf.torso_lift_link; base_foot_tf = tf.base_footprint; position.y = torso_tf.transform.translation.z + 0.21f; position.x = -(base_foot_tf.pose.position.y + 0.02f); position.z = base_foot_tf.pose.position.x - 0.06f; target.transform.localPosition = position; } }
private void ReceiveMessage(object sender, MessageEventArgs e) { odometryData = ((GeometryTransformStamped)e.Message); isMessageReceived = true; }