public void publish(RigidBodyTransform transform3d, long timeStamp, String parentFrame, String childFrame) { TransformStamped transformStamped = topicMessageFactory.newFromType(TransformStamped._TYPE); Transform transform = getRosTransform(transform3d); transformStamped.setTransform(transform); transformStamped.setChildFrameId(childFrame); Header header = transformStamped.getHeader(); header.setStamp(Time.fromNano(timeStamp)); header.setFrameId(parentFrame); header.setSeq(seq++); transformStamped.setHeader(header); tfMessage message = getMessage(); List<TransformStamped> tfs = new ArrayList<TransformStamped>(); tfs.add(transformStamped); message.setTransforms(tfs); publish(message); } }
tfPublisher = new RosTf1Publisher(false); rosMainNode.attachPublisher("/tf", (RosTf1Publisher) tfPublisher);
tfPublisher = new RosTf1Publisher(false); rosMainNode.attachPublisher("/tf", (RosTf1Publisher) tfPublisher);
public void publish(RigidBodyTransform transform3d, long timeStamp, String parentFrame, String childFrame) { TransformStamped transformStamped = topicMessageFactory.newFromType(TransformStamped._TYPE); Transform transform = getRosTransform(transform3d); transformStamped.setTransform(transform); transformStamped.setChildFrameId(childFrame); Header header = transformStamped.getHeader(); header.setStamp(Time.fromNano(timeStamp)); header.setFrameId(parentFrame); header.setSeq(seq++); transformStamped.setHeader(header); tfMessage message = getMessage(); List<TransformStamped> tfs = new ArrayList<TransformStamped>(); tfs.add(transformStamped); message.setTransforms(tfs); publish(message); } }
tfPublisher = new RosTf1Publisher(false); rosMainNode.attachPublisher("/tf", (RosTf1Publisher) tfPublisher);