protected void setupSubscribers(ConnectedNode connectedNode) { leftEyeImageSubscriber = connectedNode.newSubscriber(STEREO_NAMESPACE + "left/" + IMAGE, CompressedImage._TYPE); rightEyeImageSubscriber = connectedNode.newSubscriber(STEREO_NAMESPACE + "right/" + IMAGE, CompressedImage._TYPE); steeringWheelStateSubscriber = connectedNode.newSubscriber("/drc_vehicle/hand_wheel/state", std_msgs.Float64._TYPE); handBrakeStateSubscriber = connectedNode.newSubscriber("/drc_vehicle/hand_brake/state", std_msgs.Float64._TYPE); gasPedalStateSubscriber = connectedNode.newSubscriber("/drc_vehicle/gas_pedal/state", std_msgs.Float64._TYPE); brakePedalStateSubscriber = connectedNode.newSubscriber("/drc_vehicle/brake_pedal/state", std_msgs.Float64._TYPE); timeSubscriber = connectedNode.newSubscriber("/clock",rosgraph_msgs.Clock._TYPE); }
private void setupSubscriber(ConnectedNode connectedNode) { cameraSubscriber = connectedNode.newSubscriber(topicName, sensor_msgs.CompressedImage._TYPE); }
private void setupSubscriber(ConnectedNode connectedNode) { cameraSubscriber = connectedNode.newSubscriber(topicName, sensor_msgs.CompressedImage._TYPE); }
private void setupSubscriber(ConnectedNode connectedNode) { cameraSubscriber = connectedNode.newSubscriber(topicName, sensor_msgs.CompressedImage._TYPE); }
private void setupSubscriber(ConnectedNode connectedNode) { cameraSubscriber = connectedNode.newSubscriber(topicName, sensor_msgs.CompressedImage._TYPE); }
public void onStart(ConnectedNode connectedNode) { this.connectedNode = connectedNode; leftEyeImageSubscriber = connectedNode.newSubscriber(STEREO_NAMESPACE + "left/" + IMAGE, CompressedImage._TYPE); rightEyeImageSubscriber = connectedNode.newSubscriber(STEREO_NAMESPACE + "right/" + IMAGE, CompressedImage._TYPE); leftEyeImageSubscriber.addMessageListener(new MessageListener<CompressedImage>() { public void onNewMessage(CompressedImage message) { handleImageLeft(message); } }); rightEyeImageSubscriber.addMessageListener(new MessageListener<CompressedImage>() { public void onNewMessage(CompressedImage message) { handleImageRight(message); } }); }
@Override public void onStart(ConnectedNode connectedNode) { final Log log = connectedNode.getLog(); Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("chatter", std_msgs.String._TYPE); subscriber.addMessageListener(new MessageListener<std_msgs.String>() { @Override public void onNewMessage(std_msgs.String message) { log.info("I heard: \"" + message.getData() + "\""); } }); } }
@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) { Subscriber<rosjava_test_msgs.TestHeader> subscriber = connectedNode.newSubscriber("foo", rosjava_test_msgs.TestHeader._TYPE); subscriber.addMessageListener(listener, QUEUE_CAPACITY); } }, nodeConfiguration);
@Override public void onStart(ConnectedNode connectedNode) { Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("foo", std_msgs.String._TYPE); subscriber.addMessageListener(new MessageListener<std_msgs.String>() { @Override public void onNewMessage(std_msgs.String message) { assertEquals(expectedMessage, message); messageReceived.countDown(); } }, QUEUE_CAPACITY); } }, nodeConfiguration);
protected void setupSubscribers(ConnectedNode connectedNode) { DRCRobotSensorInformation sensorInforamtion = robotModel.getSensorInformation(); DRCRobotLidarParameters lidarParameters = sensorInforamtion.getLidarParameters(0); if (lidarParameters != null && lidarParameters.getLidarSpindleJointTopic() != null) { jointSubscriber = connectedNode.newSubscriber(lidarParameters.getLidarSpindleJointTopic(), sensor_msgs.JointState._TYPE); } }
protected void setupSubscribers(ConnectedNode connectedNode) { DRCRobotSensorInformation sensorInforamtion = robotModel.getSensorInformation(); DRCRobotLidarParameters lidarParameters = sensorInforamtion.getLidarParameters(0); if (lidarParameters != null && lidarParameters.getLidarSpindleJointTopic() != null) { jointSubscriber = connectedNode.newSubscriber(lidarParameters.getLidarSpindleJointTopic(), sensor_msgs.JointState._TYPE); } }
protected void setupSubscribers(ConnectedNode connectedNode) { DRCRobotSensorInformation sensorInforamtion = robotModel.getSensorInformation(); DRCRobotLidarParameters lidarParameters = sensorInforamtion.getLidarParameters(0); if (lidarParameters != null && lidarParameters.getLidarSpindleJointTopic() != null) { jointSubscriber = connectedNode.newSubscriber(lidarParameters.getLidarSpindleJointTopic(), sensor_msgs.JointState._TYPE); } }
@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); } }); } }
connectedNode.newSubscriber("chatter_in", std_msgs.String._TYPE); stringSubscriber.addMessageListener(chatter_cb); connectedNode.newSubscriber("int64", "std_msgs/std_msgs.Int64"); int64Subscriber.addMessageListener(int64_cb);
@Override public void onStart(ConnectedNode connectedNode) { Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("foo", std_msgs.String._TYPE); subscriber.addSubscriberListener(subscriberListener); subscriber.addMessageListener(new MessageListener<std_msgs.String>() { @Override public void onNewMessage(std_msgs.String message) { assertEquals(expectedMessage, message); messageReceived.countDown(); } }, QUEUE_CAPACITY); } }, nodeConfiguration);
@Override public void onStart(ConnectedNode connectedNode) { DefaultSubscriber<std_msgs.String> subscriber = (DefaultSubscriber<std_msgs.String>) connectedNode.<std_msgs.String>newSubscriber( "foo", std_msgs.String._TYPE); try { subscriber.addPublisher(PublisherIdentifier.newFromStrings("foo", "http://foo", "foo"), new InetSocketAddress(1234)); fail(); } catch (RuntimeException e) { // Connecting to a disconnected publisher should fail. } } }, nodeConfiguration);
@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); } };
@Override public void onStart(final ConnectedNode connectedNode) { tfSubscriber = connectedNode.newSubscriber("tf", tf2_msgs.TFMessage._TYPE); tfSubscriber.addMessageListener(new MessageListener<tf2_msgs.TFMessage>() { @Override
assertGraphNameEquals("/ns1/test_resolver/pub", pub.getTopicName()); Subscriber<std_msgs.Int64> sub = connectedNode.newSubscriber("sub", std_msgs.Int64._TYPE); assertGraphNameEquals("/ns1/sub", sub.getTopicName()); sub = connectedNode.newSubscriber("/sub", std_msgs.Int64._TYPE); assertGraphNameEquals("/sub", sub.getTopicName()); sub = connectedNode.newSubscriber("~sub", std_msgs.Int64._TYPE); assertGraphNameEquals("/ns1/test_resolver/sub", sub.getTopicName());