@Override public void run() { if (Thread.interrupted()) { scheduler.shutdown(); } else if (rosMainNode.isStarted()) { statePublisher.publish(currentState); } } }
@Override public void run() { if (Thread.interrupted()) { scheduler.shutdown(); } else if (rosMainNode.isStarted()) { statePublisher.publish(currentState); } } }
@Override public void run() { if (Thread.interrupted()) { scheduler.shutdown(); } else if (rosMainNode.isStarted()) { statePublisher.publish(currentState); } } }
public void handleMultisenseParameters(MultisenseParameterPacket object) { if (object.getInitialize()) { if (rosMainNode.isStarted()) { params = rosMainNode.getParameters(); send(); } } else setMultisenseParameters(object); }
public void handleMultisenseParameters(MultisenseParameterPacket object) { if (object.isInitialize()) { if (rosMainNode.isStarted()) { params = rosMainNode.getParameters(); send(); } } else setMultisenseParameters(object); }
public void handleMultisenseParameters(MultisenseParameterPacket object) { if (object.isInitialize()) { if (rosMainNode.isStarted()) { params = rosMainNode.getParameters(); send(); } } else setMultisenseParameters(object); }
@Override public void consumeObject(SimulatedLidarScanPacket simLidarScan) { if(rosMainNode.isStarted()){ int sensorId = simLidarScan.getSensorId(); long timestamp = ppsTimestampOffsetProvider.adjustRobotTimeStampToRosClock(simLidarScan.getLidarScanParameters().getTimestamp()); Time time = Time.fromNano(timestamp); String frameId = lidarParameters[sensorId].getEndFrameForRosTransform(); lidarPublisher[sensorId].publish(simLidarScan, frameId, time); } }
@Override public void consumeObject(SimulatedLidarScanPacket simLidarScan) { if(rosMainNode.isStarted()){ int sensorId = simLidarScan.getSensorId(); long timestamp = ppsTimestampOffsetProvider.adjustRobotTimeStampToRosClock(simLidarScan.getLidarScanParameters().getTimestamp()); Time time = Time.fromNano(timestamp); String frameId = lidarParameters[sensorId].getEndFrameForRosTransform(); lidarPublisher[sensorId].publish(simLidarScan, frameId, time); } }
@Override public void consumeObject(SimulatedLidarScanPacket simLidarScan) { if(rosMainNode.isStarted()){ int sensorId = simLidarScan.getSensorId(); long timestamp = ppsTimestampOffsetProvider.adjustRobotTimeStampToRosClock(simLidarScan.getLidarScanParameters().getTimestamp()); Time time = Time.fromNano(timestamp); String frameId = lidarParameters[sensorId].getEndFrameForRosTransform(); lidarPublisher[sensorId].publish(simLidarScan, frameId, time); } }
while (!rosMainNode.isStarted())
@Override public void consumeObject(LocalVideoPacket object) { if (rosMainNode.isStarted()) { //XXX: SENSOR ID DOES NOT EXIST! THIS IS SOOOOOO WRONG int sensorId = 0; long timestamp = ppsTimestampOffsetProvider.adjustRobotTimeStampToRosClock(object.getTimeStamp()); Time time = Time.fromNano(timestamp); String frameId = cameraParameters[sensorId].getPoseFrameForSdf(); cameraPublisher[sensorId].publish(frameId, object.getImage(), time); sendIntrinsicPacket(object, sensorId, frameId, time); } }
@Override public void consumeObject(LocalVideoPacket object) { if (rosMainNode.isStarted()) { //XXX: SENSOR ID DOES NOT EXIST! THIS IS SOOOOOO WRONG int sensorId = 0; long timestamp = ppsTimestampOffsetProvider.adjustRobotTimeStampToRosClock(object.getTimeStamp()); Time time = Time.fromNano(timestamp); String frameId = cameraParameters[sensorId].getPoseFrameForSdf(); cameraPublisher[sensorId].publish(frameId, object.getImage(), time); sendIntrinsicPacket(object, sensorId, frameId, time); } }
@Override public void consumeObject(LocalVideoPacket object) { if (rosMainNode.isStarted()) { //XXX: SENSOR ID DOES NOT EXIST! THIS IS SOOOOOO WRONG int sensorId = 0; long timestamp = ppsTimestampOffsetProvider.adjustRobotTimeStampToRosClock(object.getTimeStamp()); Time time = Time.fromNano(timestamp); String frameId = cameraParameters[sensorId].getPoseFrameForSdf(); cameraPublisher[sensorId].publish(frameId, object.getImage(), time); sendIntrinsicPacket(object, sensorId, frameId, time); } }
@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"); }
if (rosMainNode.isStarted())
if (rosMainNode.isStarted())
if (rosMainNode.isStarted())
while(!rosMainNode.isStarted())