diff --git a/rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/PubsubBenchmark.java b/rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/PubsubBenchmark.java index 25b9329c5a7ce12e5e5ca75aed44e361746faa1e..4b43ae0ca1daed4230ecd9e5c00aba5409e8b8cc 100644 --- a/rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/PubsubBenchmark.java +++ b/rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/PubsubBenchmark.java @@ -27,7 +27,7 @@ import org.ros.node.AbstractNodeMain; import org.ros.node.ConnectedNode; import org.ros.node.topic.Publisher; import org.ros.node.topic.Subscriber; -import tf.tfMessage; +import tf2_msgs.TFMessage; import java.util.concurrent.TimeUnit; import java.util.concurrent.atomic.AtomicInteger; @@ -40,8 +40,8 @@ public class PubsubBenchmark extends AbstractNodeMain { private final AtomicInteger counter; private Publisher<std_msgs.String> statusPublisher; - private Publisher<tf.tfMessage> tfPublisher; - private Subscriber<tf.tfMessage> tfSubscriber; + private Publisher<tf2_msgs.TFMessage> tfPublisher; + private Subscriber<tf2_msgs.TFMessage> tfSubscriber; private Time time; public PubsubBenchmark() { @@ -55,16 +55,16 @@ public class PubsubBenchmark extends AbstractNodeMain { @Override public void onStart(final ConnectedNode connectedNode) { - tfSubscriber = connectedNode.newSubscriber("tf", tf.tfMessage._TYPE); - tfSubscriber.addMessageListener(new MessageListener<tf.tfMessage>() { + tfSubscriber = connectedNode.newSubscriber("tf", tf2_msgs.TFMessage._TYPE); + tfSubscriber.addMessageListener(new MessageListener<tf2_msgs.TFMessage>() { @Override - public void onNewMessage(tfMessage message) { + public void onNewMessage(tf2_msgs.TFMessage message) { counter.incrementAndGet(); } }); - tfPublisher = connectedNode.newPublisher("tf", tf.tfMessage._TYPE); - final tf.tfMessage tfMessage = tfPublisher.newMessage(); + tfPublisher = connectedNode.newPublisher("tf", tf2_msgs.TFMessage._TYPE); + final tf2_msgs.TFMessage tfMessage = tfPublisher.newMessage(); geometry_msgs.TransformStamped transformStamped = connectedNode.getTopicMessageFactory().newFromType(geometry_msgs.TransformStamped._TYPE); tfMessage.getTransforms().add(transformStamped);