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();
}