update 24/2

examples/NavigationExample/Program.cs

@@ -241,6 +241,7 @@ namespace NavigationExample
         [return: MarshalAs(UnmanagedType.I1)]
         public static extern bool navigation_get_feedback(NavigationHandle handle, ref NavFeedback out_feedback);
 
+
         /// <summary>Helper: copy unmanaged char* to managed string; does not free the pointer.</summary>
         public static string MarshalString(IntPtr p)
         {
@@ -572,8 +573,14 @@ namespace NavigationExample
                 Marshal.OffsetOf<NavigationAPI.OccupancyGrid>("data_count"));
     
             NavigationAPI.navigation_add_static_map(navHandle, "/map",  occupancyGrid);
-     
-            // Cleanup
+
+            System.Threading.Thread.Sleep(1000);
+
+            NavigationAPI.Twist2DStamped twist = new NavigationAPI.Twist2DStamped();
+            if (NavigationAPI.navigation_get_twist(navHandle, ref twist))
+            {
+                Console.WriteLine("Twist: {0}, {1}, {2}, {3}", NavigationAPI.MarshalString(twist.header.frame_id), twist.velocity.x, twist.velocity.y, twist.velocity.theta);
+            }            // Cleanup
             NavigationAPI.navigation_destroy(navHandle);
             NavigationAPI.tf_listener_destroy(tfHandle);
         }