From 1a3195f8d03721449a7bbc3ef15d72bdebe14836 Mon Sep 17 00:00:00 2001
From: Daniel Stonier <d.stonier@gmail.com>
Date: Wed, 4 Sep 2013 11:44:03 +0900
Subject: [PATCH] update to tf2_msgs version of TFMessage, closes #171.
---
.../ros/rosjava_benchmarks/PubsubBenchmark.java | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
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 25b9329c..4b43ae0c 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);
--
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