/// <summary>
/// Disconnect from the remote ros environment.
/// </summary>
public void Disconnect()
{
if (!connected)
{
return;
}
_recvThread.Abort();
foreach (var sub in _subscribers)
{
_ws.Send(ROSBridgeMsg.UnSubscribe(sub.Key.topic));
}
foreach (var p in _publishers)
{
_ws.Send(ROSBridgeMsg.UnAdvertiseTopic(p.topic));
}
foreach (var srv in _serviceServers)
{
_ws.Send(ROSBridgeMsg.UnadvertiseService(srv.Key.topic));
}
_ws.Close();
_msgQueue.Clear();
_connected = false;
}
/// <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);
}
