public void Publish(string topic, ROSBridgeMsg msg)
{
if (_ws != null)
{
if (m_AnnouncedTopics.Contains(topic))
{
string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString());
//Debug.Log ("Sending on " + topic);
_ws.Send(s);
}
else
{// if not announced that we're publishing on this topic
//-> go through list of publishers/ subscribers and see if one is not yet advertised, try again
AnnouncePublishersAndSubscribers();
//Try second time otherwise not working
if (m_AnnouncedTopics.Contains(topic))
{
string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString());
//Debug.Log ("Sending on " + topic);
_ws.Send(s);
}
else
{
Debug.LogWarning("[ROS Websocket Connection] Trying to publish on a topic that is not registered!\n Topic: " + topic);
}
}
}
}
public void Publish(String topic, ROSBridgeMsg msg)
{
if (_ws != null)
{
string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString());
//Debug.Log ("Sending " + s);
_ws.Send(s);
}
}