def __init__(self, node, name = "ROSTransformStamped", topic = "transform", **kargs): ROSOutput.__init__(self, node, name = name, topic = topic, **kargs) self.publisher = CROSTransformStamped(name, self.node.node, self.topic, self.queueSize) self.publisher.reparentTo(self)
def __init__(self, node, name="ROSTransformStamped", topic="transform", **kargs): ROSOutput.__init__(self, node, name=name, topic=topic, **kargs) self.publisher = CROSTransformStamped(name, self.node.node, self.topic, self.queueSize) self.publisher.reparentTo(self)
class ROSTransformStamped(ROSOutput): def __init__(self, node, name = "ROSTransformStamped", topic = "transform", **kargs): ROSOutput.__init__(self, node, name = name, topic = topic, **kargs) self.publisher = CROSTransformStamped(name, self.node.node, self.topic, self.queueSize) self.publisher.reparentTo(self) #------------------------------------------------------------------------------- def outputData(self, time): parentNode, parentFrame = self.frameParent if self.frame != parentFrame: translation = self.getPos(parentNode) rotation = self.getQuat(parentNode) self.publish(time, parentFrame, self.frame, translation, rotation)
class ROSTransformStamped(ROSOutput): def __init__(self, node, name="ROSTransformStamped", topic="transform", **kargs): ROSOutput.__init__(self, node, name=name, topic=topic, **kargs) self.publisher = CROSTransformStamped(name, self.node.node, self.topic, self.queueSize) self.publisher.reparentTo(self) #------------------------------------------------------------------------------- def outputData(self, time): parentNode, parentFrame = self.frameParent if self.frame != parentFrame: translation = self.getPos(parentNode) rotation = self.getQuat(parentNode) self.publish(time, parentFrame, self.frame, translation, rotation)