private void setupPublishers(ConnectedNode connectedNode) { steeringWheelCommandPublisher = connectedNode.newPublisher("/drc_vehicle/hand_wheel/cmd", std_msgs.Float64._TYPE); handBrakeCommandPublisher = connectedNode.newPublisher("/drc_vehicle/hand_brake/cmd", std_msgs.Float64._TYPE); gasPedalCommandPublisher = connectedNode.newPublisher("/drc_vehicle/gas_pedal/cmd", std_msgs.Float64._TYPE); brakePedalCommandPublisher = connectedNode.newPublisher("/drc_vehicle/brake_pedal/cmd", std_msgs.Float64._TYPE); teleportInToCarPublisher = connectedNode.newPublisher("/drc_world/robot_enter_car", geometry_msgs.Pose._TYPE); teleportOutOfCarPublisher = connectedNode.newPublisher("/drc_world/robot_exit_car", geometry_msgs.Pose._TYPE); directionPublisher = connectedNode.newPublisher("/drc_vehicle/direction/cmd", Int8._TYPE); }
private void setupPublishers() { leftHandPublisher = connectedNode.newPublisher("/left_hand/control", handle_msgs.HandleControl._TYPE); rightHandPublisher = connectedNode.newPublisher("/right_hand/control", handle_msgs.HandleControl._TYPE); handCommandPublishers.put(RobotSide.LEFT, leftHandPublisher); handCommandPublishers.put(RobotSide.RIGHT, rightHandPublisher); }
private void setupPublishers() { leftHandPublisher = connectedNode.newPublisher("/left_hand/control", handle_msgs.HandleControl._TYPE); rightHandPublisher = connectedNode.newPublisher("/right_hand/control", handle_msgs.HandleControl._TYPE); handCommandPublishers.put(RobotSide.LEFT, leftHandPublisher); handCommandPublishers.put(RobotSide.RIGHT, rightHandPublisher); }
private void setupPublishers() { leftHandPublisher = connectedNode.newPublisher("/left_hand/control", handle_msgs.HandleControl._TYPE); rightHandPublisher = connectedNode.newPublisher("/right_hand/control", handle_msgs.HandleControl._TYPE); handCommandPublishers.put(RobotSide.LEFT, leftHandPublisher); handCommandPublishers.put(RobotSide.RIGHT, rightHandPublisher); }
@Override public void onStart(final ConnectedNode connectedNode) { final Publisher<std_msgs.String> publisher = connectedNode.newPublisher(topic_name, std_msgs.String._TYPE); // This CancellableLoop will be canceled automatically when the node shuts // down. connectedNode.executeCancellableLoop(new CancellableLoop() { private int sequenceNumber; @Override protected void setup() { sequenceNumber = 0; } @Override protected void loop() throws InterruptedException { std_msgs.String str = publisher.newMessage(); str.setData("Hello world! " + sequenceNumber); publisher.publish(str); sequenceNumber++; Thread.sleep(1000); } }); } }
@Override public void onStart(ConnectedNode connectedNode) { final Publisher<nav_msgs.Odometry> publisher = connectedNode.newPublisher("odom_echo", nav_msgs.Odometry._TYPE); Subscriber<nav_msgs.Odometry> subscriber = connectedNode.newSubscriber("odom", nav_msgs.Odometry._TYPE); subscriber.addMessageListener(new MessageListener<Odometry>() { @Override public void onNewMessage(Odometry message) { publisher.publish(message); } }); }
@Override public void onStart(ConnectedNode connectedNode) { publisher = connectedNode.newPublisher("topic", std_msgs.String._TYPE); publisher.addListener(publisherListener); } }, nodeConfiguration);
@Override public void onStart(final ConnectedNode connectedNode) { final Publisher<rosjava_test_msgs.TestHeader> publisher = connectedNode.newPublisher("foo", rosjava_test_msgs.TestHeader._TYPE); connectedNode.executeCancellableLoop(new CancellableLoop() { @Override public void loop() throws InterruptedException { rosjava_test_msgs.TestHeader message = connectedNode.getTopicMessageFactory().newFromType(rosjava_test_msgs.TestHeader._TYPE); message.getHeader().setStamp(connectedNode.getCurrentTime()); publisher.publish(message); // There needs to be some time between messages in order to // guarantee that the timestamp increases. Thread.sleep(1); } }); } }, nodeConfiguration);
connectedNode.newPublisher("chatter_out", std_msgs.String._TYPE); MessageListener<std_msgs.String> chatter_cb = new MessageListener<std_msgs.String>() { @Override connectedNode.newPublisher("int64", std_msgs.Int64._TYPE); MessageListener<std_msgs.Int64> int64_cb = new MessageListener<std_msgs.Int64>() { @Override
@Override public void onStart(ConnectedNode connectedNode) { final Publisher<geometry_msgs.Twist> publisher = connectedNode.newPublisher("cmd_vel", geometry_msgs.Twist._TYPE); final geometry_msgs.Twist twist = publisher.newMessage(); final Subscriber<sensor_msgs.LaserScan> subscriber = connectedNode.newSubscriber("base_scan", sensor_msgs.LaserScan._TYPE); subscriber.addMessageListener(new MessageListener<sensor_msgs.LaserScan>() { @Override public void onNewMessage(sensor_msgs.LaserScan message) { float[] ranges = message.getRanges(); float northRange = ranges[ranges.length / 2]; float northEastRange = ranges[ranges.length / 3]; double linearVelocity = 0.5; double angularVelocity = -0.5; if (northRange < 1. || northEastRange < 1.) { linearVelocity = 0; angularVelocity = 0.5; } twist.getAngular().setZ(angularVelocity); twist.getLinear().setX(linearVelocity); publisher.publish(twist); } }); } }
@Override public void onStart(ConnectedNode connectedNode) { Publisher<std_msgs.String> publisher = connectedNode.newPublisher("foo", std_msgs.String._TYPE); publisher.setLatchMode(true); publisher.publish(expectedMessage); } }, nodeConfiguration);
@Override public void onStart(ConnectedNode connectedNode) { Publisher<std_msgs.String> publisher = connectedNode.newPublisher("foo", std_msgs.String._TYPE); publisher.setLatchMode(true); publisher.publish(expectedMessage); } }, nodeConfiguration);
Publisher<? extends Message> publisher = connectedNode.newPublisher(entry.getKey(), rosTopicPublisher.getMessageType()); rosTopicPublisher.registered(publisher); rosTopicPublisher.setConnectedNode(connectedNode);
@Override public void onStart(ConnectedNode connectedNode) { Publisher<std_msgs.String> publisher = connectedNode.newPublisher("foo", std_msgs.String._TYPE); publisher.addListener(publisherListener); Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("foo", std_msgs.String._TYPE); subscriber.addSubscriberListener(subscriberListener); } };
tfPublisher = connectedNode.newPublisher("tf", tf2_msgs.TFMessage._TYPE); final tf2_msgs.TFMessage tfMessage = tfPublisher.newMessage(); geometry_msgs.TransformStamped transformStamped = statusPublisher = connectedNode.newPublisher("status", std_msgs.String._TYPE); final Rate rate = new WallTimeRate(1); final std_msgs.String status = statusPublisher.newMessage();
connectedNode.newPublisher("status", std_msgs.String._TYPE); final Rate rate = new WallTimeRate(1); final std_msgs.String status = statusPublisher.newMessage();
@Override public void onStart(ConnectedNode connectedNode) { rosCore.shutdown(); ((DefaultNode) connectedNode).getRegistrar().setRetryDelay(1, TimeUnit.MILLISECONDS); publisher = connectedNode.newPublisher("topic", std_msgs.String._TYPE); publisher.addListener(publisherListener); } }, nodeConfiguration);
CountDownPublisherListener.newDefault(); Publisher<std_msgs.Int64> publisher = connectedNode.newPublisher("test_addresses_pub", std_msgs.Int64._TYPE); publisher.addListener(publisherListener); assertTrue(publisherListener.awaitMasterRegistrationSuccess(1, TimeUnit.SECONDS));
connectedNode.newPublisher("status", std_msgs.String._TYPE); final Rate rate = new WallTimeRate(1); final std_msgs.String status = statusPublisher.newMessage();
assertGraphNameEquals("/ns1/test_resolver/foo", connectedNode.resolveName("~foo")); Publisher<std_msgs.Int64> pub = connectedNode.newPublisher("pub", std_msgs.Int64._TYPE); assertGraphNameEquals("/ns1/pub", pub.getTopicName()); pub = connectedNode.newPublisher("/pub", std_msgs.Int64._TYPE); assertGraphNameEquals("/pub", pub.getTopicName()); pub = connectedNode.newPublisher("~pub", std_msgs.Int64._TYPE); assertGraphNameEquals("/ns1/test_resolver/pub", pub.getTopicName());