public void setConnectedNode(ConnectedNode connectedNode) { this.messageFactory = connectedNode.getTopicMessageFactory(); }
public void setConnectedNode(ConnectedNode connectedNode) { this.messageFactory = connectedNode.getTopicMessageFactory(); }
@Override protected void loop() throws InterruptedException { MessageFactory topicMessageFactory = connectedNode.getTopicMessageFactory(); std_msgs.String chatter = topicMessageFactory.newFromType(std_msgs.String._TYPE); chatter.setData("hello " + System.currentTimeMillis()); pub_string.publish(chatter); std_msgs.Int64 num = topicMessageFactory.newFromType(std_msgs.Int64._TYPE); num.setData(1); pub_int64_pubsub.publish(num); Thread.sleep(100); } });
@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(); } });
@Override public void onStart(final ConnectedNode connectedNode) { final geometry_msgs.TransformStamped turtle1 = connectedNode.getTopicMessageFactory().newFromType(geometry_msgs.TransformStamped._TYPE); turtle1.getHeader().setFrameId("world"); turtle1.setChildFrameId("turtle1"); final geometry_msgs.TransformStamped turtle2 = connectedNode.getTopicMessageFactory().newFromType(geometry_msgs.TransformStamped._TYPE); turtle2.getHeader().setFrameId("world"); turtle2.setChildFrameId("turtle2");
MessageFactory topicMessageFactory = connectedNode.getTopicMessageFactory();
final tf2_msgs.TFMessage tfMessage = tfPublisher.newMessage(); geometry_msgs.TransformStamped transformStamped = connectedNode.getTopicMessageFactory().newFromType(geometry_msgs.TransformStamped._TYPE); tfMessage.getTransforms().add(transformStamped); connectedNode.executeCancellableLoop(new CancellableLoop() {