public Time getCurrentTime() { if (connectedNode == null) { throw new RuntimeException("ROS Node is not connected"); } return connectedNode.getCurrentTime(); }
public Time getCurrentTime() { if (connectedNode == null) { throw new RuntimeException("ROS Node is not connected"); } return connectedNode.getCurrentTime(); }
@Override protected void loop() throws InterruptedException { Time now = connectedNode.getCurrentTime(); Duration delta = now.subtract(time); if (delta.totalNsecs() > TimeUnit.NANOSECONDS.convert(5, TimeUnit.SECONDS)) { double hz = counter.getAndSet(0) * 1e9 / delta.totalNsecs(); status.setData(String.format("%.2f Hz", hz)); statusPublisher.publish(status); time = now; } rate.sleep(); } });
@Override protected void loop() throws InterruptedException { Time now = connectedNode.getCurrentTime(); Duration delta = now.subtract(time); if (delta.totalNsecs() > TimeUnit.NANOSECONDS.convert(5, TimeUnit.SECONDS)) { double hz = counter.getAndSet(0) * 1e9 / delta.totalNsecs(); status.setData(String.format("%.2f Hz", hz)); statusPublisher.publish(status); time = now; } rate.sleep(); } });
@Override protected void loop() throws InterruptedException { Time now = connectedNode.getCurrentTime(); Duration delta = now.subtract(time); if (delta.totalNsecs() > TimeUnit.NANOSECONDS.convert(5, TimeUnit.SECONDS)) { double hz = counter.getAndSet(0) * 1e9 / delta.totalNsecs(); status.setData(String.format("%.2f Hz", hz)); statusPublisher.publish(status); time = now; } rate.sleep(); } });
private void updateTransform(geometry_msgs.TransformStamped transformStamped, ConnectedNode connectedNode, FrameTransformTree frameTransformTree) { transformStamped.getHeader().setStamp(connectedNode.getCurrentTime()); transformStamped.getTransform().getRotation().setW(Math.random()); transformStamped.getTransform().getRotation().setX(Math.random()); transformStamped.getTransform().getRotation().setY(Math.random()); transformStamped.getTransform().getRotation().setZ(Math.random()); transformStamped.getTransform().getTranslation().setX(Math.random()); transformStamped.getTransform().getTranslation().setY(Math.random()); transformStamped.getTransform().getTranslation().setZ(Math.random()); frameTransformTree.update(transformStamped); } }
@Override protected void loop() throws InterruptedException { geometry_msgs.TransformStamped message = connectedNode.getTopicMessageFactory() .newFromType(geometry_msgs.TransformStamped._TYPE); message.getHeader().setFrameId("world"); message.setChildFrameId("turtle"); message.getHeader().setStamp(connectedNode.getCurrentTime()); message.getTransform().getRotation().setW(Math.random()); message.getTransform().getRotation().setX(Math.random()); message.getTransform().getRotation().setY(Math.random()); message.getTransform().getRotation().setZ(Math.random()); message.getTransform().getTranslation().setX(Math.random()); message.getTransform().getTranslation().setY(Math.random()); message.getTransform().getTranslation().setZ(Math.random()); counter.incrementAndGet(); } });
time = connectedNode.getCurrentTime(); final Publisher<std_msgs.String> statusPublisher = connectedNode.newPublisher("status", std_msgs.String._TYPE);
time = connectedNode.getCurrentTime(); statusPublisher = connectedNode.newPublisher("status", std_msgs.String._TYPE); final Rate rate = new WallTimeRate(1);
time = connectedNode.getCurrentTime(); final Publisher<std_msgs.String> statusPublisher = connectedNode.newPublisher("status", std_msgs.String._TYPE);