public RemoteControlHub(IWillyRosService willyRosService)
{
// Create the cmd_vel topic
CmdVelTopic = new RosTopic(willyRosService.RosClient, "/cmd_vel", "geometry_msgs/Twist");
// A timer will reset the speed to 0 if it's not reset in time
_resetTimer = new Timer(1000)
{
AutoReset = true
};
_resetTimer.Elapsed += async(sender, args) => await StopMovement();
_resetTimer.Start();
}
public SonarHub(IWillyRosService willyRosService)
{
_willyRosService = willyRosService;
}
public GpsHub(IWillyRosService willyRosService)
{
_willyRosService = willyRosService;
}
