public void RegPublisher <DataType, BridgeType>(IBridgePlugin plugin, Func <DataType, BridgeType> converter)
{
plugin.AddType <DataType>(Ros2Utils.GetMessageType <BridgeType>());
plugin.AddPublisherCreator(
(instance, topic) =>
{
var ros2Instance = instance as Ros2BridgeInstance;
ros2Instance.AddPublisher <BridgeType>(topic);
var writer = new Ros2Writer <BridgeType>(ros2Instance, topic);
return(new Publisher <DataType>((data, completed) => writer.Write(converter(data), completed)));
}
);
}
public Ros2PointCloudWriter(Ros2BridgeInstance instance, string topic)
{
Writer = new Ros2Writer <Ros.PointCloud2>(instance, topic);
}