protected void publish() {
if (publisher_string.isEmpty()) return;
std_msgs.String string = publisher.newMessage();
string.setData(publisher_string);
publisher.publish(string);
hasPublishedMsg = true;
publisher_string = "";
}
public void send_coordinate(float[] p_array) {
string = publisher.newMessage();
StringBuilder stringBuilder = new StringBuilder();
stringBuilder.append("c_");
stringBuilder.append(java.lang.String.valueOf(p_array[0]));
stringBuilder.append('_');
stringBuilder.append(java.lang.String.valueOf(p_array[1]));
string.setData(stringBuilder.toString());
publisher.publish(string);
}
/**
* This method is called whenever a message is received through ROS.
*
* @param message The String message received through the topic.
*/
@Override
public void onNewMessage(std_msgs.String message) {
String status = message.getData();
System.out.println("Changing status of: " + robot.getName() + " to: " + message.getData());
RobotController.getInstance().setRobotStatus(robot.getName(), status);
}
public void sendMessage(java.lang.String p_string) {
string = publisher.newMessage();
string.setData(p_string);
publisher.publish(string);
}
public void sendCloseMenu() {
string = publisher.newMessage();
string.setData("menu_close");
publisher.publish(string);
}