Exemple #1
0
 protected void setupSubscribers(ConnectedNode connectedNode) {
   DRCRobotSensorInformation sensorInforamtion = robotModel.getSensorInformation();
   DRCRobotLidarParameters lidarParameters = sensorInforamtion.getLidarParameters(0);
   if (lidarParameters != null && lidarParameters.getLidarSpindleJointTopic() != null) {
     jointSubscriber =
         connectedNode.newSubscriber(
             lidarParameters.getLidarSpindleJointTopic(), sensor_msgs.JointState._TYPE);
   }
 }