private void Construct(string ns, bool validate_name)
{
if (!ROS.initialized)
{
throw new Exception("You must call ROS.Init() before instantiating the first nodehandle");
}
collection = new NodeHandleBackingCollection();
UnresolvedNamespace = ns;
Namespace = validate_name ? ResolveName(ns) : ResolveName(ns, true, true);
OK = true;
lock (gate)
{
if (referenceCount == 0 && !ROS.IsStarted())
{
initializedRos = true;
ROS.Start();
}
++referenceCount;
}
}
private SimTime()
{
new Thread(() =>
{
try
{
while (!ROS.IsStarted() && !ROS.ShuttingDown)
{
Thread.Sleep(100);
}
if (!ROS.ShuttingDown)
{
nodeHandle = new NodeHandle();
simTimeSubscriber = nodeHandle.Subscribe <Clock>("/clock", 1, SimTimeCallback);
}
}
catch (Exception e)
{
logger.LogError(e, "Caught exception in sim time thread: " + e.Message);
}
}).Start();
}
