def to_message(self):
msg = WaypointSetMessage()
msg.header.stamp = rospy.Time().now()
msg.header.frame_id = 'world'
msg.waypoints = list()
for wp in self._waypoints:
msg.waypoints.append(wp.to_message())
return msg
def to_message(self):
msg = WaypointSetMessage()
msg.header.stamp = rospy.Time().now()
msg.header.frame_id = self._inertial_frame_id
msg.waypoints = list()
for wp in self._waypoints:
wp_msg = wp.to_message()
wp_msg.header.frame_id = self._inertial_frame_id
msg.waypoints.append(wp_msg)
return msg
def to_message(self, node):
"""Convert waypoints set to message `uuv_control_msgs/WaypointSet`
> *Returns*
`uuv_control_msgs/WaypointSet` message object
"""
msg = WaypointSetMessage()
msg.header.stamp = node.get_clock().now().to_msg()
msg.header.frame_id = self._inertial_frame_id
msg.waypoints = list()
for wp in self._waypoints:
wp_msg = wp.to_message()
wp_msg.header.frame_id = self._inertial_frame_id
msg.waypoints.append(wp_msg)
return msg
def to_message(self, when: rclpy.time.Time):
"""Convert waypoints set to message `uuv_control_msgs/WaypointSet`
> *Returns*
`uuv_control_msgs/WaypointSet` message object
"""
msg = WaypointSetMessage()
msg.header.stamp = when.to_msg()
msg.header.frame_id = self._inertial_frame_id
msg.waypoints = list()
for wp in self._waypoints:
wp_msg = wp.to_message()
wp_msg.header.frame_id = self._inertial_frame_id
msg.waypoints.append(wp_msg)
return msg