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Commit 1a3195f8 authored by Daniel Stonier's avatar Daniel Stonier
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update to tf2_msgs version of TFMessage, closes #171.

parent 3d235d7a
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...@@ -27,7 +27,7 @@ import org.ros.node.AbstractNodeMain; ...@@ -27,7 +27,7 @@ import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode; import org.ros.node.ConnectedNode;
import org.ros.node.topic.Publisher; import org.ros.node.topic.Publisher;
import org.ros.node.topic.Subscriber; import org.ros.node.topic.Subscriber;
import tf.tfMessage; import tf2_msgs.TFMessage;
import java.util.concurrent.TimeUnit; import java.util.concurrent.TimeUnit;
import java.util.concurrent.atomic.AtomicInteger; import java.util.concurrent.atomic.AtomicInteger;
...@@ -40,8 +40,8 @@ public class PubsubBenchmark extends AbstractNodeMain { ...@@ -40,8 +40,8 @@ public class PubsubBenchmark extends AbstractNodeMain {
private final AtomicInteger counter; private final AtomicInteger counter;
private Publisher<std_msgs.String> statusPublisher; private Publisher<std_msgs.String> statusPublisher;
private Publisher<tf.tfMessage> tfPublisher; private Publisher<tf2_msgs.TFMessage> tfPublisher;
private Subscriber<tf.tfMessage> tfSubscriber; private Subscriber<tf2_msgs.TFMessage> tfSubscriber;
private Time time; private Time time;
public PubsubBenchmark() { public PubsubBenchmark() {
...@@ -55,16 +55,16 @@ public class PubsubBenchmark extends AbstractNodeMain { ...@@ -55,16 +55,16 @@ public class PubsubBenchmark extends AbstractNodeMain {
@Override @Override
public void onStart(final ConnectedNode connectedNode) { public void onStart(final ConnectedNode connectedNode) {
tfSubscriber = connectedNode.newSubscriber("tf", tf.tfMessage._TYPE); tfSubscriber = connectedNode.newSubscriber("tf", tf2_msgs.TFMessage._TYPE);
tfSubscriber.addMessageListener(new MessageListener<tf.tfMessage>() { tfSubscriber.addMessageListener(new MessageListener<tf2_msgs.TFMessage>() {
@Override @Override
public void onNewMessage(tfMessage message) { public void onNewMessage(tf2_msgs.TFMessage message) {
counter.incrementAndGet(); counter.incrementAndGet();
} }
}); });
tfPublisher = connectedNode.newPublisher("tf", tf.tfMessage._TYPE); tfPublisher = connectedNode.newPublisher("tf", tf2_msgs.TFMessage._TYPE);
final tf.tfMessage tfMessage = tfPublisher.newMessage(); final tf2_msgs.TFMessage tfMessage = tfPublisher.newMessage();
geometry_msgs.TransformStamped transformStamped = geometry_msgs.TransformStamped transformStamped =
connectedNode.getTopicMessageFactory().newFromType(geometry_msgs.TransformStamped._TYPE); connectedNode.getTopicMessageFactory().newFromType(geometry_msgs.TransformStamped._TYPE);
tfMessage.getTransforms().add(transformStamped); tfMessage.getTransforms().add(transformStamped);
......
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