protected virtual void Start() { if (this.rosBridgeIP.Equals(string.Empty)) { this.rosBridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP; } if (this.rosBridgePort == 0) { this.rosBridgePort = ConfigManager.Instance.configInfo.rosbridgePort; } if (!RosConnectionManager.Instance.rosConnections.rosBridgeWebSocketConnectionMap.ContainsKey(topicName)) { this.webSocketConnection = new SIGVerse.RosBridge.RosBridgeWebSocketConnection(rosBridgeIP, rosBridgePort); RosConnectionManager.Instance.rosConnections.rosBridgeWebSocketConnectionMap.Add(topicName, this.webSocketConnection); this.publisher = this.webSocketConnection.Advertise <Tmsg>(topicName); // Connect to ROSbridge server this.webSocketConnection.Connect(); } else { this.webSocketConnection = RosConnectionManager.Instance.rosConnections.rosBridgeWebSocketConnectionMap[topicName]; this.publisher = this.webSocketConnection.Advertise <Tmsg>(topicName); } }
void Start() { if (!ConfigManager.Instance.configInfo.rosbridgeIP.Equals(string.Empty)) { this.rosBridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP; this.rosBridgePort = ConfigManager.Instance.configInfo.rosbridgePort; } this.webSocketConnection = new RosBridgeWebSocketConnection(rosBridgeIP, rosBridgePort); this.stringPublisher = this.webSocketConnection.Advertise <std_msgs.String>(topicName); // Connect to ROSbridge server this.webSocketConnection.Connect(); this.stringMessage = new std_msgs.String(); }
public void SetConnection(RosBridgeWebSocketConnection webSocketConnection) { this.webSocketConnection = webSocketConnection; }