/// <summary>
/// Remove a publisher from this connection
/// </summary>
/// <param name="publisher"></param>
public void Unadvertise(ROSBridgePublisher publisher)
{
if (this.IsConnected)
{
this.webSocket.Send(ROSBridgeMsg.UnAdvertiseTopic(publisher.Topic));
}
this.publishers.Remove(publisher);
}
/// <summary>
/// Add a publisher to this connection. There can be many publishers.
/// </summary>
/// <typeparam name="Tpub">Publisher type to advertise</typeparam>
/// <param name="topic">Topic to advertise on</param>
/// <returns>A publisher which can be used to broadcast data on the given topic</returns>
public ROSBridgePublisher <Tmsg> Advertise <Tmsg>(string topic, uint queueSize = 0) where Tmsg : ROSMessage
{
ROSBridgePublisher <Tmsg> publisher = (ROSBridgePublisher <Tmsg>)Activator.CreateInstance(typeof(ROSBridgePublisher <Tmsg>), new object[] { topic, queueSize });
publisher.SetConnection(this);
this.publishers.Add(publisher);
if (this.IsConnected)
{
this.webSocket.Send(ROSBridgeMsg.AdvertiseTopic(publisher.Topic, publisher.Type));
}
return(publisher);
}
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();
}
