public void Initialize()
{
Ros.MasterUri = new Uri("http://localhost:11311/");
Ros.HostName = "localhost";
var topicContainer = new TopicContainer();
topicContainer.AddPublisher(new Publisher<std_msgs.String>("/test_topic", "test"));
var tcpListener = new TcpRosListener(0);
_slaveServer = new SlaveServer("test", 0, topicContainer);
_slaveServer.AddListener("/test_topic", tcpListener);
}
public void Initialize()
{
Ros.MasterUri = new Uri("http://localhost:11311/");
Ros.HostName = "localhost";
Ros.TopicTimeout = 3000;
Ros.XmlRpcTimeout = 3000;
_container = new TopicContainer();
var listener = new TcpRosListener(0);
_slaveServer = new SlaveServer("test", 0, _container);
_slaveServer.AddListener("test", listener);
_slaveClient = new SlaveClient(_slaveServer.SlaveUri);
}
public void SubscribeBeforeSetParam()
{
var server = new ParameterServer(new Uri("http://localhost"));
var slave = new SlaveServer("test", 0, new TopicContainer());
var observer = new ReplaySubject<KeyValuePair<string, object>>();
slave.ParameterUpdated += (key, value) => observer.OnNext(new KeyValuePair<string, object>(key, value));
server.SubscribeParam("test", slave.SlaveUri.ToString(), "test_param");
server.SetParam("test", "test_param", 5678);
observer.First().Key.Is("test_param");
observer.First().Value.Is(5678);
}