public void RegPublisher <DataType, BridgeType>(IBridgePlugin plugin, Func <DataType, BridgeType> converter)
{
plugin.AddType <DataType>(RosUtils.GetMessageType <BridgeType>());
plugin.AddPublisherCreator <DataType>(
(instance, topic) =>
{
var rosInstance = instance as RosBridgeInstance;
rosInstance.AddPublisher <BridgeType>(topic);
var writer = new RosWriter <BridgeType>(rosInstance, topic);
return(new Publisher <DataType>((data, completed) => writer.Write(converter(data), completed)));
}
);
}
const double Height = 0; // sea level to WGS84 ellipsoid
public RosNmeaWriter(RosBridgeInstance instance, string topic)
{
Writer = new RosWriter <Ros.Sentence>(instance, topic);
}
public RosPointCloudWriter(RosBridgeInstance instance, string topic)
{
Writer = new RosWriter <Ros.PointCloud2>(instance, topic);
}