public RosSCSLidarPublisher(ObjectCommunicator localObjectCommunicator, RosMainNode rosMainNode, PPSTimestampOffsetProvider ppsTimestampOffsetProvider, FullRobotModel fullRobotModel, DRCRobotLidarParameters[] lidarParameters) { nSensors = lidarParameters.length; this.rosMainNode = rosMainNode; this.ppsTimestampOffsetProvider = ppsTimestampOffsetProvider; this.lidarParameters = lidarParameters; lidarPublisher = new RosLidarPublisher[nSensors]; for (int sensorId = 0; sensorId < nSensors; sensorId++) { lidarPublisher[sensorId] = new RosLidarPublisher(false); String rosTopic = lidarParameters[sensorId].getRosTopic(); rosMainNode.attachPublisher(rosTopic, lidarPublisher[sensorId]); } localObjectCommunicator.attachListener(SimulatedLidarScanPacket.class, this); }
public RosSCSLidarPublisher(ObjectCommunicator localObjectCommunicator, RosMainNode rosMainNode, PPSTimestampOffsetProvider ppsTimestampOffsetProvider, FullRobotModel fullRobotModel, DRCRobotLidarParameters[] lidarParameters) { nSensors = lidarParameters.length; this.rosMainNode = rosMainNode; this.ppsTimestampOffsetProvider = ppsTimestampOffsetProvider; this.lidarParameters = lidarParameters; lidarPublisher = new RosLidarPublisher[nSensors]; for (int sensorId = 0; sensorId < nSensors; sensorId++) { lidarPublisher[sensorId] = new RosLidarPublisher(false); String rosTopic = lidarParameters[sensorId].getRosTopic(); rosMainNode.attachPublisher(rosTopic, lidarPublisher[sensorId]); } localObjectCommunicator.attachListener(SimulatedLidarScanPacket.class, this); }
public RosSCSLidarPublisher(ObjectCommunicator localObjectCommunicator, RosMainNode rosMainNode, PPSTimestampOffsetProvider ppsTimestampOffsetProvider, FullRobotModel fullRobotModel, DRCRobotLidarParameters[] lidarParameters) { nSensors = lidarParameters.length; this.rosMainNode = rosMainNode; this.ppsTimestampOffsetProvider = ppsTimestampOffsetProvider; this.lidarParameters = lidarParameters; lidarPublisher = new RosLidarPublisher[nSensors]; for (int sensorId = 0; sensorId < nSensors; sensorId++) { lidarPublisher[sensorId] = new RosLidarPublisher(false); String rosTopic = lidarParameters[sensorId].getRosTopic(); rosMainNode.attachPublisher(rosTopic, lidarPublisher[sensorId]); } localObjectCommunicator.attachListener(SimulatedLidarScanPacket.class, this); }