public RosPublisher(String nodeName,
String rosTopic,
float rate = 20,
int queueSize = 10)
{
connected = false;
name = nodeName;
RosTopic = rosTopic;
RosType = typeof(T).ToString();
RosType = RosType.Substring(4, RosType.Length - 4).Replace(".", "/");
QueueSize = queueSize;
SendQueue = new Queue <T>();
#if !UNITY_EDITOR
RosMessenger.Instance.Advertise(RosTopic, RosType);
Debug.Log("[" + name + "] Advertised successfully");
#endif
connected = true;
}
public RosSubscriber(String nodeName,
String rosTopic,
int queueSize = 10)
{
// During instantiation, it is assumed that the RosManager instance is ready and connected
name = nodeName;
RosTopic = rosTopic;
RosType = typeof(T).ToString();
RosType = RosType.Substring(4, RosType.Length - 4).Replace(".", "/");
QueueSize = queueSize;
MsgQueue = new Queue <T>();
#if !UNITY_EDITOR
RosMessenger.Instance.Subscribe(RosTopic, RosType);
buffer = RosMessenger.Instance.topicBuffer[RosTopic];
Debug.Log("[" + name + "] Subscribed successfully, message type: " + RosType);
#endif
}