Exemple #1
0
 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);
 }
Exemple #2
0
 /// <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);
 }