Closed tejasps28 closed 2 years ago
这里是氨气同学的QQ邮箱,您的邮件我已收到,祝生活愉快~
这里是氨气同学的QQ邮箱,您的邮件我已收到,祝生活愉快~
Im sorry i dont understand.
@tejasps28 You will want to derive your message from ZOROSMessageInterface
. For example:
public class ImuMessage : ZOROSMessageInterface {
[Newtonsoft.Json.JsonIgnore]
public string MessageType { get { return ImuMessage.Type; } }
[Newtonsoft.Json.JsonIgnore]
public static string Type { get { return "sensor_msgs/Imu"; } }
public HeaderMessage header { get; set; }
public QuaternionMessage orientation { get; set; }
public double[] orientation_covariance { get; set; }
public Vector3Message angular_velocity { get; set; }
public double[] angular_velocity_covariance { get; set; }
// Row major about x, y, z axes
public Vector3Message linear_acceleration { get; set; }
public double[] linear_acceleration_covariance { get; set; }
// Row major x, y z
public ImuMessage() {
this.header = new HeaderMessage();
this.orientation = new QuaternionMessage();
this.orientation_covariance = new double[9];
this.angular_velocity = new Vector3Message();
this.angular_velocity_covariance = new double[9];
this.linear_acceleration = new Vector3Message();
this.linear_acceleration_covariance = new double[9];
}
public ImuMessage(HeaderMessage header, QuaternionMessage orientation, double[] orientation_covariance, Vector3Message angular_velocity, double[] angular_velocity_covariance, Vector3Message linear_acceleration, double[] linear_acceleration_covariance) {
this.header = header;
this.orientation = orientation;
this.orientation_covariance = orientation_covariance;
this.angular_velocity = angular_velocity;
this.angular_velocity_covariance = angular_velocity_covariance;
this.linear_acceleration = linear_acceleration;
this.linear_acceleration_covariance = linear_acceleration_covariance;
}
public void Update() {
this.header.Update();
}
}
@tejasps28 did this help?
@micahpearlman yes, i tried it and it works fine! Thanks for the help!
I want to work with custom messages and dont know how is it built in zerosim. Is there an option to work with custom messages? Please help! Thanks in Advance! @micahpearlman