public RosOutAppender() { publish_thread = new Thread(logThread) {IsBackground = true}; publish_thread.Start(); AdvertiseOptions<Log> ops = new AdvertiseOptions<Log>(names.resolve("/rosout"), 0) {latch = true}; SubscriberCallbacks cbs = new SubscriberCallbacks(); TopicManager.Instance.advertise(ops, cbs); }
Publisher <M> queue_advertise <M> (string topic, uint queue_size, SubscriberStatusCallback connect_cb, SubscriberStatusCallback disconnect_cb, CallbackQueueInterface queue) where M : IRosMessage, new() { AdvertiseOptions <M> ops = new AdvertiseOptions <M> (topic, (int)queue_size, connect_cb, disconnect_cb); // ops.tracked_object = ros::VoidPtr(); ops.latch = false; ops.callback_queue = queue; return(nodeHandle.advertise(ops)); }