public void publish(byte level, String message) { rosgraph_msgs.Log logMessage = getMessage(); std_msgs.Header header = logMessage.getHeader(); header.setStamp(rosMainNode.getCurrentTime()); header.setSeq(sequenceID++); logMessage.setHeader(header); logMessage.setLevel(level); logMessage.setMsg(message); publish(logMessage); } }
public void publish(byte level, String message) { rosgraph_msgs.Log logMessage = getMessage(); std_msgs.Header header = logMessage.getHeader(); header.setStamp(rosMainNode.getCurrentTime()); header.setSeq(sequenceID++); logMessage.setHeader(header); logMessage.setLevel(level); logMessage.setMsg(message); publish(logMessage); } }
@Override public void updateRigidbodies(ArrayList<MocapRigidBody> listOfRigidbodies) { if(!mainNode.isStarted()) return; for (MocapRigidBody rigidBody : listOfRigidbodies) { Transform3d tmpTransform = new Transform3d(); tmpTransform.setTranslation(rigidBody.xPosition,rigidBody.yPosition,rigidBody.zPosition); tmpTransform.setRotation(new Quat4d(rigidBody.qx, rigidBody.qy, rigidBody.qz, rigidBody.qw)); tfPublisher.publish(tmpTransform, mainNode.getCurrentTime().totalNsecs(), "/mocap_world", "mocap/rigidBody"+rigidBody.getId()); } //System.out.println("Update rate: " + frequencyCalculator.determineCallFrequency() + " Hz"); }
@Override public void updateRigidbodies(ArrayList<MocapRigidBody> listOfRigidbodies) { if(!mainNode.isStarted()) return; for (MocapRigidBody rigidBody : listOfRigidbodies) { RigidBodyTransform tmpTransform = new RigidBodyTransform(); tmpTransform.setTranslation(rigidBody.xPosition,rigidBody.yPosition,rigidBody.zPosition); tmpTransform.setRotation(new Quaternion(rigidBody.qx, rigidBody.qy, rigidBody.qz, rigidBody.qw)); tfPublisher.publish(tmpTransform, mainNode.getCurrentTime().totalNsecs(), "/mocap_world", "mocap/rigidBody"+rigidBody.getId()); } //System.out.println("Update rate: " + frequencyCalculator.determineCallFrequency() + " Hz"); }
@Override public void updateRigidbodies(ArrayList<MocapRigidBody> listOfRigidbodies) { if(!mainNode.isStarted()) return; for (MocapRigidBody rigidBody : listOfRigidbodies) { Transform3d tmpTransform = new Transform3d(); tmpTransform.setTranslation(rigidBody.xPosition,rigidBody.yPosition,rigidBody.zPosition); tmpTransform.setRotation(new Quat4d(rigidBody.qx, rigidBody.qy, rigidBody.qz, rigidBody.qw)); tfPublisher.publish(tmpTransform, mainNode.getCurrentTime().totalNsecs(), "/mocap_world", "mocap/rigidBody"+rigidBody.getId()); } //System.out.println("Update rate: " + frequencyCalculator.determineCallFrequency() + " Hz"); }