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CeTI
ROS
ROS Java Packages
Rosjava Core Gradle
Commits
1a3195f8
"pages/docs/adding.md" did not exist on "f08e9809a629279e688f41e2b2caa1f351454c1f"
Commit
1a3195f8
authored
11 years ago
by
Daniel Stonier
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update to tf2_msgs version of TFMessage, closes #171.
parent
3d235d7a
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rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/PubsubBenchmark.java
+8
-8
8 additions, 8 deletions
...main/java/org/ros/rosjava_benchmarks/PubsubBenchmark.java
with
8 additions
and
8 deletions
rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/PubsubBenchmark.java
+
8
−
8
View file @
1a3195f8
...
@@ -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
.tf
Message
;
import
tf
2_msgs.TF
Message
;
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
.
tf
Message
>
tfPublisher
;
private
Publisher
<
tf
2_msgs
.
TF
Message
>
tfPublisher
;
private
Subscriber
<
tf
.
tf
Message
>
tfSubscriber
;
private
Subscriber
<
tf
2_msgs
.
TF
Message
>
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
.
tf
Message
.
_TYPE
);
tfSubscriber
=
connectedNode
.
newSubscriber
(
"tf"
,
tf
2_msgs
.
TF
Message
.
_TYPE
);
tfSubscriber
.
addMessageListener
(
new
MessageListener
<
tf
.
tf
Message
>()
{
tfSubscriber
.
addMessageListener
(
new
MessageListener
<
tf
2_msgs
.
TF
Message
>()
{
@Override
@Override
public
void
onNewMessage
(
tfMessage
message
)
{
public
void
onNewMessage
(
tf
2_msgs
.
TF
Message
message
)
{
counter
.
incrementAndGet
();
counter
.
incrementAndGet
();
}
}
});
});
tfPublisher
=
connectedNode
.
newPublisher
(
"tf"
,
tf
.
tf
Message
.
_TYPE
);
tfPublisher
=
connectedNode
.
newPublisher
(
"tf"
,
tf
2_msgs
.
TF
Message
.
_TYPE
);
final
tf
.
tf
Message
tfMessage
=
tfPublisher
.
newMessage
();
final
tf
2_msgs
.
TF
Message
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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