static RosPublisher <Twist> CreatePublisher(IRosbridgeMessageDispatcher messageDispatcher)
{
RosPublisher <Twist> publisher = new RosPublisher <Twist>(messageDispatcher, "/turtle1/cmd_vel");
publisher.AdvertiseAsync();
return(publisher);
}
// Throttles message publishing rate to a defined period, to be used within the Update function
protected bool Publish <T>(RosPublisher <T> publisher, T data)
where T : IRosClassInterface, new()
{
System.Double currTimeStamp = Time.unscaledTime;
if (currTimeStamp - prevTimeStamp[publisher.name] > period[publisher.name])
{
publisher.SendMessage(data);
prevTimeStamp[publisher.name] = currTimeStamp;
return(true);
}
return(false);
}
protected bool Advertise <T>(string name, string topic, double rate, out RosPublisher <T> publisher)
where T : IRosClassInterface, new()
{
if (prevTimeStamp.ContainsKey(name))
{
publisher = default(RosPublisher <T>);
return(false);
}
prevTimeStamp[name] = Time.unscaledDeltaTime;
period[name] = 1 / rate;
publisher = new RosPublisher <T>(name, topic, 1);
return(true);
}
protected bool Unadvertise <T>(RosPublisher <T> publisher)
where T : IRosClassInterface, new()
{
if (prevTimeStamp.ContainsKey(publisher.name))
{
prevTimeStamp.Remove(publisher.name);
period.Remove(publisher.name);
publisher.Terminate();
publisher = null;
return(true);
}
return(false);
}
// Start is called before the first frame update
void Start()
{
rosPublisher = GameObject.FindGameObjectWithTag("RosManager").GetComponent <RosPublisher>();
}