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,