private void construct(string ns, bool validate_name)
{
if (started_by_visual_studio)
{
return;
}
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 (nh_refcount_mutex)
{
if (nh_refcount == 0 && !ROS.isStarted())
{
node_started_by_nh = true;
ROS.start();
}
++nh_refcount;
}
}
public SimTime()
{
new Thread(() =>
{
while (!ROS.isStarted() && !ROS.shutting_down)
{
Thread.Sleep(100);
}
nh = new NodeHandle();
if (!ROS.shutting_down)
{
simTimeSubscriber = nh.subscribe <Clock>("/clock", 1, SimTimeCallback);
}
}).Start();
}
public SimTime()
{
new Thread(() =>
{
while (!ROS.isStarted() && !ROS.shutting_down)
{
Thread.Sleep(100);
}
Thread.Sleep(1000);
if (!ROS.shutting_down)
{
nh = new NodeHandle();
simTimeSubscriber = nh.subscribe <Messages.rosgraph_msgs.Clock>("/clock", 1, SimTimeCallback);
}
ROS.waitForShutdown();
simTimeSubscriber.shutdown();
}).Start();
}
private void construct(string ns, bool validate_name)
{
if (!ROS.initialized)
{
ROS.FREAKOUT();
}
collection = new NodeHandleBackingCollection();
UnresolvedNamespace = ns;
Namespace = validate_name ? resolveName(ns) : resolveName(ns, true, true);
ok = true;
lock (nh_refcount_mutex)
{
if (nh_refcount == 0 && !ROS.isStarted())
{
node_started_by_nh = true;
ROS.start();
}
++nh_refcount;
}
}