tut_sensor.orogen

name "tut_sensor"

import_types_from "base"

using_library 'rock_tutorial'
import_types_from 'rock_tutorial/BearingDistanceSensor.hpp'

task_context "Task" do
   input_port "target_frame", "base/samples/RigidBodyState"
   input_port "local_frame", "base/samples/RigidBodyState"
   output_port "target_sensor_sample", "rock_tutorial/BearingDistanceSensor"

   periodic 0.05
end

task_context 'TransformerTask' do
   transformer do
      # We need a reference frame (the follower's body) and the target frame
      # (the leader body frame)
      transform 'target', 'ref'
      # Because the rocks reference frames are attached to the body (they
      # 'roll', we also need the transformation from the world to the reference
      # frame)
      transform 'ref', 'world'
      max_latency 1
   end

   output_port "target_sensor_sample", "rock_tutorial/BearingDistanceSensor"
   periodic 0.05
end