public void Connect()
{
this.node = new RosNode.Node(NodeName, this.rosSlave, this.rosMaster);
this.pumpPublisher = this.node.CreatePublisher(RosMessageTypes.Standard.Bool.Def, PumpTopic, false);
this.beepPublisher = this.node.CreatePublisher(this.beepMessageDef, BeepTopic, false);
this.positionSubscriber = this.node.Subscribe(this.positionMessageDef, PositionReadTopic, this.PositionUpdate);
this.positionPublisher = this.node.CreatePublisher(this.positionMessageDef, PositionWriteTopic, false);
}
/// <summary>
/// Connect to ROS.
/// </summary>
public void Connect()
{
this.node = new RosNode.Node(NodeName, this.rosSlave, this.rosMaster);
this.cmdVelPublisher = this.node.CreatePublisher(RosMessageTypes.Geometry.Twist.Def, CmdVelTopic, false);
this.poseSubscriber = this.node.Subscribe(this.poseMessageDef, PoseTopic, this.PoseUpdate);
}