How to use

getPPSTimestampOffsetProvider

method

in

us.ihmc.avatar.drcRobot.DRCRobotModel

public ThePeoplesGloriousNetworkProcessor(URI rosUri, PacketCommunicator controllerCommunicationBridge, DRCRobotModel robotModel, String namespace,
   String tfPrefix, Collection<Class> additionalPacketTypes, String... additionalMessagePackages) throws IOException
{
 this(rosUri, controllerCommunicationBridge, null, robotModel.getPPSTimestampOffsetProvider(), robotModel, namespace, tfPrefix, additionalPacketTypes, additionalMessagePackages);
}

public ThePeoplesGloriousNetworkProcessor(URI rosUri, PacketCommunicator controllerCommunicationBridge, DRCRobotModel robotModel, String namespace,
   String tfPrefix, Collection<Class> additionalPacketTypes, String... additionalMessagePackages) throws IOException
{
 this(rosUri, controllerCommunicationBridge, null, robotModel.getPPSTimestampOffsetProvider(), robotModel, namespace, tfPrefix, additionalPacketTypes, additionalMessagePackages);
}

public ThePeoplesGloriousNetworkProcessor(URI rosUri, PacketCommunicator controllerCommunicationBridge, DRCRobotModel robotModel, String namespace,
   String tfPrefix, String... additionalMessagePackages) throws IOException
{
 this(rosUri, controllerCommunicationBridge, null, robotModel.getPPSTimestampOffsetProvider(), robotModel, namespace, tfPrefix, Collections.<Class>emptySet(), additionalMessagePackages);
}

public ThePeoplesGloriousNetworkProcessor(URI rosUri, PacketCommunicator controllerCommunicationBridge, DRCRobotModel robotModel, String namespace,
   String tfPrefix, String... additionalMessagePackages) throws IOException
{
 this(rosUri, controllerCommunicationBridge, null, robotModel.getPPSTimestampOffsetProvider(), robotModel, namespace, tfPrefix, Collections.<Class>emptySet(), additionalMessagePackages);
}

  public ThePeoplesGloriousNetworkProcessor(URI rosUri, PacketCommunicator rosAPI_communicator, ObjectCommunicator sensorCommunicator,
     DRCROSPPSTimestampOffsetProvider ppsOffsetProvider, DRCRobotModel robotModel, String namespace, String tfPrefix, Collection<Class> additionalPacketTypes,
     List<Map.Entry<String, RosTopicSubscriberInterface<? extends Message>>> customSubscribers,
     List<Map.Entry<String, RosTopicPublisher<? extends Message>>> customPublishers, String... additionalMessagePackages) throws IOException
  {
   this.rosMainNode = new RosMainNode(rosUri, namespace + nodeName);
   this.robotModel = robotModel;
   this.controllerCommunicationBridge = rosAPI_communicator;
   this.scsSensorCommunicationBridge = sensorCommunicator;
   this.ppsTimestampOffsetProvider = ppsOffsetProvider;
   this.ppsTimestampOffsetProvider.attachToRosMainNode(rosMainNode);
   this.subscribers = new ArrayList<AbstractRosTopicSubscriber<?>>();
   this.publishers = new ArrayList<RosTopicPublisher<?>>();

   this.nodeConfiguration = NodeConfiguration.newPrivate();
   this.messageFactory = nodeConfiguration.getTopicMessageFactory();
   this.fullRobotModel = robotModel.createFullRobotModel();
   HumanoidRobotDataReceiver robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, null);
   rosAPI_communicator.attachListener(RobotConfigurationData.class, robotDataReceiver);
   rosAPI_communicator.attachListener(RobotConfigurationData.class, ppsOffsetProvider);
   rosAPI_communicator.attachListener(HighLevelStateChangeStatusMessage.class, new PeriodicRosHighLevelStatePublisher(rosMainNode, namespace));
   rosAPI_communicator.attachListener(CapturabilityBasedStatus.class, new RosCapturabilityBasedStatusPublisher(rosMainNode, namespace));

   setupInputs(namespace, robotDataReceiver, fullRobotModel, additionalMessagePackages);
   setupOutputs(namespace, tfPrefix, additionalMessagePackages);
   setupRosLocalization();
//      setupErrorTopics();

   if (customSubscribers != null)
   {

  public ThePeoplesGloriousNetworkProcessor(URI rosUri, PacketCommunicator rosAPI_communicator, ObjectCommunicator sensorCommunicator,
     DRCROSPPSTimestampOffsetProvider ppsOffsetProvider, DRCRobotModel robotModel, String namespace, String tfPrefix, Collection<Class> additionalPacketTypes,
     List<Map.Entry<String, RosTopicSubscriberInterface<? extends Message>>> customSubscribers,
     List<Map.Entry<String, RosTopicPublisher<? extends Message>>> customPublishers, String... additionalMessagePackages) throws IOException
  {
   this.rosMainNode = new RosMainNode(rosUri, namespace + nodeName);
   this.robotModel = robotModel;
   this.controllerCommunicationBridge = rosAPI_communicator;
   this.scsSensorCommunicationBridge = sensorCommunicator;
   this.ppsTimestampOffsetProvider = ppsOffsetProvider;
   this.ppsTimestampOffsetProvider.attachToRosMainNode(rosMainNode);
   this.subscribers = new ArrayList<AbstractRosTopicSubscriber<?>>();
   this.publishers = new ArrayList<RosTopicPublisher<?>>();

   this.nodeConfiguration = NodeConfiguration.newPrivate();
   this.messageFactory = nodeConfiguration.getTopicMessageFactory();
   this.fullRobotModel = robotModel.createFullRobotModel();
   HumanoidRobotDataReceiver robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, null);
   rosAPI_communicator.attachListener(RobotConfigurationData.class, robotDataReceiver);
   rosAPI_communicator.attachListener(RobotConfigurationData.class, ppsOffsetProvider);
   rosAPI_communicator.attachListener(HighLevelStateChangeStatusMessage.class, new PeriodicRosHighLevelStatePublisher(rosMainNode, namespace));
   rosAPI_communicator.attachListener(CapturabilityBasedStatus.class, new RosCapturabilityBasedStatusPublisher(rosMainNode, namespace));

   setupInputs(namespace, robotDataReceiver, fullRobotModel, additionalMessagePackages);
   setupOutputs(namespace, tfPrefix, additionalMessagePackages);
   setupRosLocalization();
//      setupErrorTopics();

   if (customSubscribers != null)
   {

String rosTopicPrefix = "/ihmc_ros/" + robotModel.getSimpleRobotName().toLowerCase();
ppsTimestampOffsetProvider = robotModel.getPPSTimestampOffsetProvider();
ppsTimestampOffsetProvider.attachToRosMainNode(rosMainNode);
rosModulePacketCommunicator.attachListener(RobotConfigurationData.class, ppsTimestampOffsetProvider);

                       .generateTopicName(RobotConfigurationData.class);
ppsTimestampOffsetProvider = robotModel.getPPSTimestampOffsetProvider();
ppsTimestampOffsetProvider.attachToRosMainNode(rosMainNode);
ROS2Tools.createCallbackSubscription(ros2Node, RobotConfigurationData.class,