public MultisenseHeadingSubscriber( RosMainNode rosnode, String msgTopic, YoVariableRegistry inputRegistry) { super(); registry = inputRegistry; angleRadians = 0.0; magnitudeMeters = 0.0; DoubleYoVariable multisenseHeading = new DoubleYoVariable("multisenseHeading", registry); DoubleYoVariable multisenseMagnitude = new DoubleYoVariable("multisenseMagnitude", registry); multisenseHeading.setValueFromDouble(0.0); multisenseMagnitude.setValueFromDouble(0.0); rosnode.attachSubscriber(msgTopic, this); }
public static void main(String[] arg) throws URISyntaxException { RosMainNode mainNode = new RosMainNode(new URI("http://localhost:11311"), "testImu"); mainNode.attachSubscriber( "/multisense/imu/imu_data", new RosImuSubscriber() { @Override protected void onNewMessage( long timeStamp, int seqId, Quat4d orientation, Vector3d angularVelocity, Vector3d linearAcceleration) { System.out.println("Gravity:" + linearAcceleration); } }); mainNode.execute(); }