public void AddPublisher_AlreadyAdded()
{
var container = new TopicContainer();
IPublisher pub;
container.HasPublisher("pub1").Is(false);
container.GetPublishers().Count.Is(0);
container.AddPublisher(new Publisher<std_msgs.String>("pub1", "test")).Is(true);
container.HasPublisher("pub1").Is(true);
container.GetPublishers().Count.Is(1);
container.GetPublisher("pub1", out pub).Is(true);
container.AddPublisher(new Publisher<std_msgs.String>("pub1", "test")).Is(false);
container.HasPublisher("pub1").Is(true);
container.GetPublishers().Count.Is(1);
container.GetPublisher("pub1", out pub).Is(true);
}
public void Initialize()
{
Ros.MasterUri = new Uri("http://localhost:11311/");
Ros.HostName = "localhost";
var topicContainer = new TopicContainer();
topicContainer.AddPublisher(new Publisher<std_msgs.String>("/test_topic", "test"));
var tcpListener = new TcpRosListener(0);
_slaveServer = new SlaveServer("test", 0, topicContainer);
_slaveServer.AddListener("/test_topic", tcpListener);
}