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Regenerated TF2 msgs #191

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Merged
merged 3 commits into from
Sep 24, 2021
Merged

Regenerated TF2 msgs #191

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59befec
Regenerated TF2 msgs
at669 Sep 24, 2021
800412f
Remove debugs
at669 Sep 24, 2021
284cc30
PR feedback: Revert metafiles
at669 Sep 24, 2021
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1 change: 1 addition & 0 deletions com.unity.robotics.ros-tcp-connector/Runtime/Messages/Tf2/msg/TF2ErrorMsg.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@ namespace RosMessageTypes.Tf2
public class TF2ErrorMsg : Message
{
public const string k_RosMessageName = "tf2_msgs/TF2Error";
public override string RosMessageName => k_RosMessageName;

public const byte NO_ERROR = 0;
public const byte LOOKUP_ERROR = 1;
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1 change: 1 addition & 0 deletions com.unity.robotics.ros-tcp-connector/Runtime/Messages/Tf2/msg/TFMessageMsg.cs
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Expand Up @@ -11,6 +11,7 @@ namespace RosMessageTypes.Tf2
public class TFMessageMsg : Message
{
public const string k_RosMessageName = "tf2_msgs/TFMessage";
public override string RosMessageName => k_RosMessageName;

public Geometry.TransformStampedMsg[] transforms;

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8 changes: 7 additions & 1 deletion com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/ROSConnection.cs
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Expand Up @@ -183,7 +183,13 @@ public RosTopicState GetOrCreateTopic(string topic, string rosMessageName)
public void Subscribe<T>(string topic, Action<T> callback) where T : Message
{
string rosMessageName = MessageRegistry.GetRosMessageName<T>();
AddSubscriberInternal(topic, rosMessageName, (Message msg) => { callback((T)msg); });
AddSubscriberInternal(topic, rosMessageName, (Message msg) =>
{
if (msg.RosMessageName != rosMessageName)
Debug.LogError($"Subscriber to '{topic}' expected '{rosMessageName}' but received '{msg.RosMessageName}'!?");
else
callback((T)msg);
});
}

public void Unsubscribe(string topic)
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