How to use

PelvisPoseCorrectionCommunicator

in

us.ihmc.humanoidRobotics.communication.subscribers

@Override
public void onNewDataMessage(Subscriber<StampedPosePacket> subscriber)
{
 receivedPacket(subscriber.takeNextData());
}

externalPelvisPoseSubscriber = new PelvisPoseCorrectionCommunicator(null, null);
ROS2Tools.createCallbackSubscription(estimatorRealtimeRos2Node, StampedPosePacket.class,
                   ControllerAPIDefinition.getSubscriberTopicNameGenerator(robotName), externalPelvisPoseSubscriber);

private void setupStateEstimationThread()
{
 stateEstimationThread = new DRCEstimatorThread(robotModel.get().getSensorInformation(), robotModel.get().getContactPointParameters(),
                         robotModel.get().getStateEstimatorParameters(), sensorReaderFactory, threadDataSynchronizer,
                         new PeriodicNonRealtimeThreadScheduler("DRCSimGazeboYoVariableServer"), humanoidGlobalDataProducer.get(),
                         yoVariableServer, gravity.get());
 if (humanoidGlobalDataProducer.get() != null)
 {
   PelvisPoseCorrectionCommunicatorInterface pelvisPoseCorrectionCommunicator = new PelvisPoseCorrectionCommunicator(humanoidGlobalDataProducer.get());
   humanoidGlobalDataProducer.get().attachListener(StampedPosePacket.class, pelvisPoseCorrectionCommunicator);
   stateEstimationThread.setExternalPelvisCorrectorSubscriber(pelvisPoseCorrectionCommunicator);
 }
 else
 {
   stateEstimationThread.setExternalPelvisCorrectorSubscriber(null);
 }
}

PelvisPoseCorrectionCommunicatorInterface externalPelvisPoseSubscriber = new PelvisPoseCorrectionCommunicator(dataProducer);
dataProducer.attachListener(StampedPosePacket.class, externalPelvisPoseSubscriber);

private void setupStateEstimationThread()
{
 String robotName = robotModel.get().getSimpleRobotName();
 MessageTopicNameGenerator publisherTopicNameGenerator = ControllerAPIDefinition.getPublisherTopicNameGenerator(robotName);
 MessageTopicNameGenerator subscriberTopicNameGenerator = ControllerAPIDefinition.getSubscriberTopicNameGenerator(robotName);
 PelvisPoseCorrectionCommunicatorInterface pelvisPoseCorrectionCommunicator;
 if (externalPelvisCorrectorSubscriber.hasValue())
 {
   pelvisPoseCorrectionCommunicator = externalPelvisCorrectorSubscriber.get();
 }
 else
 {
   pelvisPoseCorrectionCommunicator = new PelvisPoseCorrectionCommunicator(realtimeRos2Node.get(), publisherTopicNameGenerator);
   ROS2Tools.createCallbackSubscription(realtimeRos2Node.get(), StampedPosePacket.class, subscriberTopicNameGenerator,
                     s -> pelvisPoseCorrectionCommunicator.receivedPacket(s.takeNextData()));
 }
 stateEstimationThread = new DRCEstimatorThread(robotName, robotModel.get().getSensorInformation(), robotModel.get().getContactPointParameters(),
                         robotModel.get(), robotModel.get().getStateEstimatorParameters(), sensorReaderFactory,
                         threadDataSynchronizer, realtimeRos2Node.get(), pelvisPoseCorrectionCommunicator, simulationOutputWriter,
                         yoVariableServer, gravity.get());
}

pelvisPoseCorrectionCommunicator = new PelvisPoseCorrectionCommunicator(globalDataProducer);
globalDataProducer.attachListener(StampedPosePacket.class, pelvisPoseCorrectionCommunicator);

PelvisPoseCorrectionCommunicatorInterface externalPelvisPoseSubscriber = new PelvisPoseCorrectionCommunicator(dataProducer);
dataProducer.attachListener(StampedPosePacket.class, externalPelvisPoseSubscriber);

PelvisPoseCorrectionCommunicatorInterface externalPelvisPoseSubscriber = new PelvisPoseCorrectionCommunicator(dataProducer);
dataProducer.attachListener(StampedPosePacket.class, externalPelvisPoseSubscriber);