public static PointType fromFromFieldNames(List<sensor_msgs.PointField> fields) { if(fields.size() == 3) { return XYZ; } final String thirdFieldName =fields.get(3).getName(); switch (thirdFieldName) { case "luminance" : case "intensity" : return XYZI; case "rgb" : case "rgba" : return XYZRGB; } throw new RuntimeException("unknown PointType: " + thirdFieldName); }
public void publish(List<String> name, double[] position, double[] velocity, double[] effort, Time t) { JointState message = getMessage(); Header header = message.getHeader(); header.setStamp(t); header.setFrameId("/world"); header.setSeq(seq++); message.setHeader(header); if (name != null) { message.setName(name); } if (position != null) { message.setPosition(position); } if(velocity != null) { message.setVelocity(velocity); } if(effort != null) { message.setEffort(effort); } publish(message); }
@Override public synchronized void onNewMessage(sensor_msgs.Imu message) { this.timeStamp = message.getHeader().getStamp().totalNsecs(); this.seq_id = message.getHeader().getSeq(); this.frameId = message.getHeader().getFrameId(); RosTools.packRosQuaternionToEuclidQuaternion(message.getOrientation(), this.orientationEstimate); RosTools.packRosVector3ToEuclidTuple3D(message.getAngularVelocity(), this.angularVelocity); RosTools.packRosVector3ToEuclidTuple3D(message.getLinearAcceleration(), this.linearAcceleration); onNewMessage(timeStamp, seq_id, orientationEstimate, angularVelocity, linearAcceleration); }
public void onNewMessage(JointState message) { receivedClockMessage(message.getHeader().getStamp().totalNsecs()); } });
protected synchronized void handleImageLeft(CompressedImage message) { timestampLeft = message.getHeader().getStamp().totalNsecs(); imageLeft = bufferedImageFromRosMessage(message); checkProcessImage(); }
@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); } });
public void onNewMessage(sensor_msgs.Image message) { long timeStamp = message.getHeader().getStamp().totalNsecs(); imageReceived(timeStamp, RosTools.bufferedImageFromRosMessageRaw(colorModel, message)); }
public void publish(List<String> name, double[] position, double[] velocity, double[] effort, Time t) { JointState message = getMessage(); Header header = message.getHeader(); header.setStamp(t); header.setFrameId("/world"); header.setSeq(seq++); message.setHeader(header); if (name != null) { message.setName(name); } if (position != null) { message.setPosition(position); } if(velocity != null) { message.setVelocity(velocity); } if(effort != null) { message.setEffort(effort); } publish(message); }
@Override public synchronized void onNewMessage(sensor_msgs.Imu message) { this.timeStamp = message.getHeader().getStamp().totalNsecs(); this.seq_id = message.getHeader().getSeq(); this.frameId = message.getHeader().getFrameId(); RosTools.packRosQuaternionToQuat4d(message.getOrientation(), this.orientationEstimate); RosTools.packRosVector3ToVector3d(message.getAngularVelocity(), this.angularVelocity); RosTools.packRosVector3ToVector3d(message.getLinearAcceleration(), this.linearAcceleration); onNewMessage(timeStamp, seq_id, orientationEstimate, angularVelocity, linearAcceleration); }
public void onNewMessage(JointState message) { receivedClockMessage(message.getHeader().getStamp().totalNsecs()); } });
protected synchronized void handleImageRight(CompressedImage message) { timestampRight = message.getHeader().getStamp().totalNsecs(); imageRight = bufferedImageFromRosMessage(message); checkProcessImage(); }
public static PointType fromFromFieldNames(List<sensor_msgs.PointField> fields) { if(fields.size() == 3) { return XYZ; } final String thirdFieldName =fields.get(3).getName(); switch (thirdFieldName) { case "luminance" : case "intensity" : return XYZI; case "rgb" : case "rgba" : return XYZRGB; } throw new RuntimeException("unknown PointType: " + thirdFieldName); }
public void onNewMessage(sensor_msgs.Image message) { long timeStamp = message.getHeader().getStamp().totalNsecs(); imageReceived(timeStamp, RosTools.bufferedImageFromRosMessageRaw(colorModel, message)); }
public void onNewMessage(JointState message) { receivedClockMessage(message.getHeader().getStamp().totalNsecs()); } });
public void onNewMessage(sensor_msgs.CompressedImage message) { long timeStamp = message.getHeader().getStamp().totalNsecs(); imageReceived(timeStamp, RosTools.bufferedImageFromRosMessageJpeg(colorModel, message)); }
protected synchronized void handleImageLeft(CompressedImage message) { timestampLeft = message.getHeader().getStamp().totalNsecs(); imageLeft = RosTools.bufferedImageFromRosMessageJpeg(colorModel, message); checkProcessImage(); }
public void onNewMessage(sensor_msgs.CompressedImage message) { long timeStamp = message.getHeader().getStamp().totalNsecs(); imageReceived(timeStamp, RosTools.bufferedImageFromRosMessageJpeg(colorModel, message)); }
protected synchronized void handleImageRight(CompressedImage message) { timestampRight = message.getHeader().getStamp().totalNsecs(); imageRight = RosTools.bufferedImageFromRosMessageJpeg(colorModel, message); checkProcessImage(); }