public void updateTopic(Node node, long seq) {
message.header.seq = seq;
message.header.stamp = node.getCurrentTime();
message.header.frame_id = "/robot";
pressed = touch.isPressed();
message.contact = pressed;
topic.publish(message);
}
private void publish(byte level, Object message) {
org.ros.message.rosgraph_msgs.Log m = new org.ros.message.rosgraph_msgs.Log();
m.header.stamp = node.getCurrentTime();
m.level = level;
m.name = node.getName().toString();
m.msg = message.toString();
// TODO(damonkohler): Should return list of all published and subscribed
// topics for the node that created this logger. This helps filter the
// rosoutconsole.
m.topics = Lists.newArrayList();
publisher.publish(m);
}