public static async ValueTask <RosChannelReader> CreateReaderAsync(this IRosClient client, string topic,
CancellationToken token = default)
{
var writer = new RosChannelReader();
await writer.StartAsync(client, topic, token);
return(writer);
}
public static async ValueTask <RosChannelReader <T> > CreateReaderAsync <T>(this IRosClient client, string topic,
CancellationToken token = default)
where T : IMessage, IDeserializable <T>, new()
{
var writer = new RosChannelReader <T>();
await writer.StartAsync(client, topic, token);
return(writer);
}