def sendChunkBulk(self, name, data):
        
        msg = chunk_bulk_msg()
        
        self.msgr.setMessage(msg, data)

        meta = []
        for i in range(len(data['metadata'])):
            meta.append(chunk_meta_msg())
            self.msgr.setMessage(meta[i], data['metadata'][i])
        
        msg.metadata = meta
        rospy.logdebug("published chunk bulk message, sky: %s, rostime: %s, mctime: %s", msg.sky_light, msg.ROStimestamp, msg.MCtimestamp)
        
        self.pub_bulk.publish(msg)
Пример #2
0
    def sendChunkBulk(self, name, data):
        
        msg = chunk_bulk_msg()
        
        meta = []
        for i in range(len(data['metadata'])):
            meta.append(chunk_meta_msg())
            meta[i].chunk_x = data['metadata'][i]['chunk_x']
            meta[i].chunk_z = data['metadata'][i]['chunk_z']
            # bulk chunk packet doesn't have continuous field?
	    #meta[i].continuous = data['metadata'][i]['continuous']
            meta[i].primary_bitmap = data['metadata'][i]['primary_bitmap']

        msg.sky_light = data['sky_light']
	msg.metadata = meta
        msg.data = data['data']

        #print "sent chunk bulk message"
        #print msg
        self.pub_bulk.publish(msg)