class ROSTransformsStamped(ROSOutput):
def __init__(self, node, name="ROSTransforms", **kargs):
ROSOutput.__init__(self, node, name=name, topic="/tf", **kargs)
self.publisher = CROSTransformsStamped(name, self.node.node)
self.publisher.reparentTo(self)
# -------------------------------------------------------------------------------
def outputData(self, time):
transforms = {}
for output in Iterator(self.parent, ROSOutput).generator:
if output.frame != self.frame:
parentNode, parentFrame = output.frameParent
translation = output.getPos(parentNode)
rotation = output.getQuat(parentNode)
transforms[output.frame] = (parentFrame, translation, rotation)
if transforms:
self.publish(time, transforms)
class ROSTransformsStamped(ROSOutput):
def __init__(self, node, name="ROSTransforms", **kargs):
ROSOutput.__init__(self, node, name=name, topic="/tf", **kargs)
self.publisher = CROSTransformsStamped(name, self.node.node)
self.publisher.reparentTo(self)
#-------------------------------------------------------------------------------
def outputData(self, time):
transforms = {}
for output in Iterator(self.parent, ROSOutput).generator:
if output.frame != self.frame:
parentNode, parentFrame = output.frameParent
translation = output.getPos(parentNode)
rotation = output.getQuat(parentNode)
transforms[output.frame] = (parentFrame, translation, rotation)
if transforms:
self.publish(time, transforms)
def __init__(self, node, name="ROSTransforms", **kargs):
ROSOutput.__init__(self, node, name=name, topic="/tf", **kargs)
self.publisher = CROSTransformsStamped(name, self.node.node)
self.publisher.reparentTo(self)
def __init__(self, node, name="ROSTransforms", **kargs):
ROSOutput.__init__(self, node, name=name, topic="/tf", **kargs)
self.publisher = CROSTransformsStamped(name, self.node.node)
self.publisher.reparentTo(self)
