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 }