Class ZOROSIMUPublisher

Publish ROS Imu message using ZOIMU sensor.

Inheritance
System.Object
UnityEngine.Object
UnityEngine.Component
UnityEngine.Behaviour
UnityEngine.MonoBehaviour
ZOGameObjectBase
ZOROSUnityGameObjectBase
ZOROSIMUPublisher
Inherited Members
UnityEngine.MonoBehaviour.IsInvoking()
UnityEngine.MonoBehaviour.CancelInvoke()
UnityEngine.MonoBehaviour.Invoke(System.String, System.Single)
UnityEngine.MonoBehaviour.InvokeRepeating(System.String, System.Single, System.Single)
UnityEngine.MonoBehaviour.CancelInvoke(System.String)
UnityEngine.MonoBehaviour.IsInvoking(System.String)
UnityEngine.MonoBehaviour.StartCoroutine(System.String)
UnityEngine.MonoBehaviour.StartCoroutine(System.String, System.Object)
UnityEngine.MonoBehaviour.StartCoroutine(System.Collections.IEnumerator)
UnityEngine.MonoBehaviour.StartCoroutine_Auto(System.Collections.IEnumerator)
UnityEngine.MonoBehaviour.StopCoroutine(System.Collections.IEnumerator)
UnityEngine.MonoBehaviour.StopCoroutine(UnityEngine.Coroutine)
UnityEngine.MonoBehaviour.StopCoroutine(System.String)
UnityEngine.MonoBehaviour.StopAllCoroutines()
UnityEngine.MonoBehaviour.print(System.Object)
UnityEngine.MonoBehaviour.useGUILayout
UnityEngine.MonoBehaviour.runInEditMode
UnityEngine.Behaviour.enabled
UnityEngine.Behaviour.isActiveAndEnabled
UnityEngine.Component.GetComponent(System.Type)
UnityEngine.Component.GetComponent<T>()
UnityEngine.Component.TryGetComponent(System.Type, UnityEngine.Component)
UnityEngine.Component.TryGetComponent<T>(T)
UnityEngine.Component.GetComponent(System.String)
UnityEngine.Component.GetComponentInChildren(System.Type, System.Boolean)
UnityEngine.Component.GetComponentInChildren(System.Type)
UnityEngine.Component.GetComponentInChildren<T>(System.Boolean)
UnityEngine.Component.GetComponentInChildren<T>()
UnityEngine.Component.GetComponentsInChildren(System.Type, System.Boolean)
UnityEngine.Component.GetComponentsInChildren(System.Type)
UnityEngine.Component.GetComponentsInChildren<T>(System.Boolean)
UnityEngine.Component.GetComponentsInChildren<T>(System.Boolean, System.Collections.Generic.List<T>)
UnityEngine.Component.GetComponentsInChildren<T>()
UnityEngine.Component.GetComponentsInChildren<T>(System.Collections.Generic.List<T>)
UnityEngine.Component.GetComponentInParent(System.Type)
UnityEngine.Component.GetComponentInParent<T>()
UnityEngine.Component.GetComponentsInParent(System.Type, System.Boolean)
UnityEngine.Component.GetComponentsInParent(System.Type)
UnityEngine.Component.GetComponentsInParent<T>(System.Boolean)
UnityEngine.Component.GetComponentsInParent<T>(System.Boolean, System.Collections.Generic.List<T>)
UnityEngine.Component.GetComponentsInParent<T>()
UnityEngine.Component.GetComponents(System.Type)
UnityEngine.Component.GetComponents(System.Type, System.Collections.Generic.List<UnityEngine.Component>)
UnityEngine.Component.GetComponents<T>(System.Collections.Generic.List<T>)
UnityEngine.Component.GetComponents<T>()
UnityEngine.Component.CompareTag(System.String)
UnityEngine.Component.SendMessageUpwards(System.String, System.Object, UnityEngine.SendMessageOptions)
UnityEngine.Component.SendMessageUpwards(System.String, System.Object)
UnityEngine.Component.SendMessageUpwards(System.String)
UnityEngine.Component.SendMessageUpwards(System.String, UnityEngine.SendMessageOptions)
UnityEngine.Component.SendMessage(System.String, System.Object)
UnityEngine.Component.SendMessage(System.String)
UnityEngine.Component.SendMessage(System.String, System.Object, UnityEngine.SendMessageOptions)
UnityEngine.Component.SendMessage(System.String, UnityEngine.SendMessageOptions)
UnityEngine.Component.BroadcastMessage(System.String, System.Object, UnityEngine.SendMessageOptions)
UnityEngine.Component.BroadcastMessage(System.String, System.Object)
UnityEngine.Component.BroadcastMessage(System.String)
UnityEngine.Component.BroadcastMessage(System.String, UnityEngine.SendMessageOptions)
UnityEngine.Component.transform
UnityEngine.Component.gameObject
UnityEngine.Component.tag
UnityEngine.Object.GetInstanceID()
UnityEngine.Object.GetHashCode()
UnityEngine.Object.Equals(System.Object)
UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Vector3, UnityEngine.Quaternion)
UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Vector3, UnityEngine.Quaternion, UnityEngine.Transform)
UnityEngine.Object.Instantiate(UnityEngine.Object)
UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Transform)
UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Transform, System.Boolean)
UnityEngine.Object.Instantiate<T>(T)
UnityEngine.Object.Instantiate<T>(T, UnityEngine.Vector3, UnityEngine.Quaternion)
UnityEngine.Object.Instantiate<T>(T, UnityEngine.Vector3, UnityEngine.Quaternion, UnityEngine.Transform)
UnityEngine.Object.Instantiate<T>(T, UnityEngine.Transform)
UnityEngine.Object.Instantiate<T>(T, UnityEngine.Transform, System.Boolean)
UnityEngine.Object.Destroy(UnityEngine.Object, System.Single)
UnityEngine.Object.Destroy(UnityEngine.Object)
UnityEngine.Object.DestroyImmediate(UnityEngine.Object, System.Boolean)
UnityEngine.Object.DestroyImmediate(UnityEngine.Object)
UnityEngine.Object.FindObjectsOfType(System.Type)
UnityEngine.Object.FindObjectsOfType(System.Type, System.Boolean)
UnityEngine.Object.DontDestroyOnLoad(UnityEngine.Object)
UnityEngine.Object.DestroyObject(UnityEngine.Object, System.Single)
UnityEngine.Object.DestroyObject(UnityEngine.Object)
UnityEngine.Object.FindSceneObjectsOfType(System.Type)
UnityEngine.Object.FindObjectsOfTypeIncludingAssets(System.Type)
UnityEngine.Object.FindObjectsOfType<T>()
UnityEngine.Object.FindObjectsOfType<T>(System.Boolean)
UnityEngine.Object.FindObjectOfType<T>()
UnityEngine.Object.FindObjectOfType<T>(System.Boolean)
UnityEngine.Object.FindObjectsOfTypeAll(System.Type)
UnityEngine.Object.FindObjectOfType(System.Type)
UnityEngine.Object.FindObjectOfType(System.Type, System.Boolean)
UnityEngine.Object.ToString()
UnityEngine.Object.name
UnityEngine.Object.hideFlags
System.Object.Equals(System.Object, System.Object)
System.Object.GetType()
System.Object.MemberwiseClone()
System.Object.ReferenceEquals(System.Object, System.Object)
Namespace: ZO.ROS.Publisher
Assembly: Unity.ZeroSim.dll
Syntax
[RequireComponent(typeof(ZOROSTransformPublisher))]
[RequireComponent(typeof(ZOIMU))]
public class ZOROSIMUPublisher : ZOROSUnityGameObjectBase, ZOROSUnityInterface, ZOSerializationInterface

Fields

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_coordinateSystem

Declaration
public ZOROSIMUPublisher.CoordinateSystemEnum _coordinateSystem
Field Value
Type Description
ZOROSIMUPublisher.CoordinateSystemEnum
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_imuSensor

Declaration
public ZOIMU _imuSensor
Field Value
Type Description
ZOIMU
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_reverseLinearAccelerations

Declaration
public bool _reverseLinearAccelerations
Field Value
Type Description
System.Boolean

Properties

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CoordinateSystem

The coordinate system for the published IMU data. RightHanded_XBackward_YLeft_ZUp: ? Some IMU's want this reference frame RightHanded_XRight_YDown_ZForward: RealSense D435i IMU prefers this reference frame. Unity_LeftHanded_XRight_YUp_ZForward: Unity reference frame ROS_RightHanded_XForward_YLeft_ZUp: ROS standard reference frame.

Declaration
public ZOROSIMUPublisher.CoordinateSystemEnum CoordinateSystem { get; set; }
Property Value
Type Description
ZOROSIMUPublisher.CoordinateSystemEnum
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IMUSensor

The IMU sensor.

Declaration
public ZOIMU IMUSensor { get; set; }
Property Value
Type Description
ZOIMU
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ReverseLinearAccelerations

Flips gravity vector. Why would you: the accelerometer is an intertial sensor and it measures inertial force. The accelerometer doesn’t measure G-force, but rather the force that resists to G. The resisting force aims up to the ceiling.

Declaration
public bool ReverseLinearAccelerations { get; set; }
Property Value
Type Description
System.Boolean
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TransformPublisher

Declaration
public ZOROSTransformPublisher TransformPublisher { get; }
Property Value
Type Description
ZOROSTransformPublisher
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Type

Declaration
public override string Type { get; }
Property Value
Type Description
System.String
Overrides

Methods

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Deserialize(ZOSimDocumentRoot, JObject)

Declaration
public override void Deserialize(ZOSimDocumentRoot documentRoot, JObject json)
Parameters
Type Name Description
ZOSimDocumentRoot documentRoot
Newtonsoft.Json.Linq.JObject json
Overrides
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OnROSBridgeConnected(ZOROSUnityManager)

Declaration
public override void OnROSBridgeConnected(ZOROSUnityManager rosUnityManager)
Parameters
Type Name Description
ZOROSUnityManager rosUnityManager
Overrides
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OnROSBridgeDisconnected(ZOROSUnityManager)

Declaration
public override void OnROSBridgeDisconnected(ZOROSUnityManager rosUnityManager)
Parameters
Type Name Description
ZOROSUnityManager rosUnityManager
Overrides
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Serialize(ZOSimDocumentRoot, Object)

Declaration
public override JObject Serialize(ZOSimDocumentRoot documentRoot, Object parent = null)
Parameters
Type Name Description
ZOSimDocumentRoot documentRoot
UnityEngine.Object parent
Returns
Type Description
Newtonsoft.Json.Linq.JObject
Overrides
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ZOOnDestroy()

Declaration
protected override void ZOOnDestroy()
Overrides
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ZOStart()

Declaration
protected override void ZOStart()
Overrides

Implements