public void RemovePublisher(ROSBridgePublisher publisher)
{
_publishers.Remove(publisher);
if (IsConnected)
{
WebSocket.Send(ROSBridgeMsg.UnAdvertise(publisher.GetMessageTopic()));
}
}
public void AddPublisher(ROSBridgePublisher publisher)
{
_publishers.Add(publisher);
if (IsConnected && !IsDisconnecting)
{
WebSocket.Send(ROSBridgeMsg.Advertise(publisher.GetMessageTopic(), publisher.GetMessageType()));
}
}
/// <summary>
/// Remove a publisher from this connection
/// </summary>
/// <param name="pub"></param>
public void Unadvertise(ROSBridgePublisher pub)
{
if (connected)
{
_ws.Send(ROSBridgeMsg.UnAdvertiseTopic(pub.topic));
}
_publishers.Remove(pub);
}
/// <summary>
/// Publish a message to be sent to the ROS environment. Note: You must Advertise() before you can Publish().
/// </summary>
/// <param name="publisher">Publisher associated with the topic to publish to</param>
/// <param name="msg">Message to publish</param>
public void Publish(ROSBridgePublisher publisher, ROSMessage msg)
{
if (_ws != null && connected)
{
_ws.Send(publisher.ToMessage(msg));
}
else
{
Debug.LogWarning("Could not publish message! No current connection to ROSBridge...");
}
}
void Start()
{
ROSHost = "ws://" + ROSHost;
ros = new ROSBridgeLib.ROSBridgeWebSocketConnection(ROSHost, ROSPort);
pose_sub = ros.Subscribe <SimplePoseArray>("/unity/simple_bot/pose", OnNewPoseMsg);
hand_sub = ros.Subscribe <ROSBridgeLib.simple_unity_bot.HandState>("/unity/simple_bot/hands", OnNewHandMsg);
pose_pub = ros.Advertise <SimplePoseArray>("/unity/simple_bot/target_pose");
hand_pub = ros.Advertise <ROSBridgeLib.simple_unity_bot.HandState>("/unity/simple_bot/hand_targets");
ros.Connect();
}
/// <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) where Tmsg : ROSMessage
{
ROSBridgePublisher <Tmsg> pub = (ROSBridgePublisher <Tmsg>)Activator.CreateInstance(typeof(ROSBridgePublisher <Tmsg>), new object[] { topic });
pub.SetBridgeConnection(this);
_publishers.Add(pub);
if (connected)
{
_ws.Send(ROSBridgeMsg.AdvertiseTopic(pub.topic, pub.type));
}
return(pub);
}
public PublishTask(ROSBridgePublisher publisher, ROSMessage msg)
{
_publisher = publisher;
_msg = msg;
}