public void Shutdown()
{
ROS.RosShuttingDown -= ROS_RosShuttingDown;
statusSubscriber.Dispose();
feedbackSubscriber.Dispose();
resultSubscriber.Dispose();
GoalPublisher.Dispose();
CancelPublisher.Dispose();
nodeHandle.Dispose();
}
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
if (nh != null)
{
nh.Dispose();
nh = null;
}
if (ViperDevice != null)
{
ViperDevice.Dispose();
ViperDevice = null;
}
Application.Exit();
}
public static void StopROS(Action callback = null)
{
if (ROS.isStarted() && !ROS.shutting_down && !instance.stopping)
{
// instance.status = ROSStatus.Disconnected;
instance.starting = false;
instance.stopping = true;
while (nodes.Count > 0)
{
NodeHandle node = nodes.Dequeue();
node.shutdown();
node.Dispose();
}
Debug.Log("stopping ROS");
ROS.shutdown();
ROS.waitForShutdown();
}
if (callback != null)
{
callback();
}
}
