/// <summary>
        /// Disconnect from the remote ros environment.
        /// </summary>
        public void Disconnect()
        {
            if (!this.IsConnected)
            {
                return;
            }

            //	this.sendMsgThread.Abort();

            this.isConnected = false;
            Thread.Sleep(15);

            foreach (var sub in this.subscribers)
            {
                this.webSocket.Send(ROSBridgeMsg.UnSubscribe(sub.Key.Topic));
            }
            foreach (var pub in this.publishers)
            {
                this.webSocket.Send(ROSBridgeMsg.UnAdvertiseTopic(pub.Topic));
            }
            foreach (var srv in this.serviceProviders)
            {
                this.webSocket.Send(ROSBridgeMsg.UnadvertiseService(srv.Key.Name));
            }

            this.webSocket.Close();
            this.msgQueue.Clear();
        }
        /// <summary>
        /// Remove a subscriber callback from this connection.
        /// </summary>
        /// <param name="subscriber"></param>
        public void Unsubscribe(ROSBridgeSubscriber subscriber)
        {
            if (subscriber == null)
            {
                return;
            }

            this.subscribers.Remove(subscriber);
            this.msgQueue.Remove(subscriber.Topic);

            if (this.IsConnected)
            {
                this.webSocket.Send(ROSBridgeMsg.UnSubscribe(subscriber.Topic));
            }
        }