geometry_msgs.WrenchStamped stampedWrench = getMessage(); Header header = newMessageFromType(Header._TYPE); header.setStamp(Time.fromNano(timeStamp)); header.setSeq(counter); geometry_msgs.Wrench wrench = newMessageFromType(geometry_msgs.Wrench._TYPE); Vector3 force = newMessageFromType(Vector3._TYPE); Vector3 torque = newMessageFromType(Vector3._TYPE); publish(stampedWrench);
footForceSensorPublishers.put(robotSide, new RosWrenchPublisher(latched)); feetForceSensorIndexes.put(robotSide, getForceSensorIndex(feetForceSensorNames.get(robotSide), forceSensorDefinitions)); if(handForceSensorNames != null && !handForceSensorNames.isEmpty()) wristForceSensorPublishers.put(robotSide, new RosWrenchPublisher(latched));
footForceSensorPublishers.put(robotSide, new RosWrenchPublisher(latched)); feetForceSensorIndexes.put(robotSide, getForceSensorIndex(feetForceSensorNames.get(robotSide), forceSensorDefinitions)); if(handForceSensorNames != null && !handForceSensorNames.isEmpty()) wristForceSensorPublishers.put(robotSide, new RosWrenchPublisher(latched));
geometry_msgs.WrenchStamped stampedWrench = getMessage(); Header header = newMessageFromType(Header._TYPE); header.setStamp(Time.fromNano(timeStamp)); header.setSeq(counter); geometry_msgs.Wrench wrench = newMessageFromType(geometry_msgs.Wrench._TYPE); Vector3 force = newMessageFromType(Vector3._TYPE); Vector3 torque = newMessageFromType(Vector3._TYPE); publish(stampedWrench);
robotConfigurationData.getForceSensorData().get(feetForceSensorIndexes.get(robotSide)).getLinearPart().get(3, arrayToPublish); footForceSensorWrenches.put(robotSide, arrayToPublish); footForceSensorPublishers.get(robotSide).publish(timeStamp, footForceSensorWrenches.get(robotSide)); robotConfigurationData.getForceSensorData().get(handForceSensorIndexes.get(robotSide)).getLinearPart().get(3, arrayToPublish); wristForceSensorWrenches.put(robotSide, arrayToPublish); wristForceSensorPublishers.get(robotSide).publish(timeStamp, wristForceSensorWrenches.get(robotSide));
footForceSensorPublishers.put(robotSide, new RosWrenchPublisher(latched)); feetForceSensorIndexes.put(robotSide, getForceSensorIndex(feetForceSensorNames.get(robotSide), forceSensorDefinitions)); if (handForceSensorNames != null && !handForceSensorNames.isEmpty()) wristForceSensorPublishers.put(robotSide, new RosWrenchPublisher(latched));