/// <summary>
/// Adds a ROS Actor aka. Publisher, Subscriber, Service to the ROSBridge. Is public so a ROSObject can invoke it after Awake.
/// </summary>
/// <param name="rosObject"></param>
public void AddROSActor(ROSObject rosObject)
{
if (!m_ROSInitialized)
{
// add the cached rosobjects so we can add them later
m_ROSObjectsToAdd.Add(rosObject);
return;
}
if (m_ROSObjects.Contains(rosObject))
{
return;
}
var subscribers = rosObject.GetComponents <ROSBridgeSubscriber>();
var publishers = rosObject.GetComponents <ROSBridgePublisher>();
var services = rosObject.GetComponents <ROSBridgeService>();
foreach (var sub in subscribers)
{
m_ROS.AddSubscriber(sub.GetType());
}
foreach (var pub in publishers)
{
m_ROS.AddPublisher(pub.GetType());
}
foreach (var serv in services)
{
m_ROS.AddServiceResponse(serv.GetType());
}
m_ROSObjects.Add(rosObject);
}
/// <summary>
/// Removes a ROS Actor. Is useful so objects can disconnect from the ROSBridge if they are not active and do not need to be to connected again.
/// </summary>
/// <param name="rosObject"></param>
public void RemoveROSActor(ROSObject rosObject)
{
if (!m_ROSInitialized)
{
return;
}
if (!m_ROSObjects.Contains(rosObject))
{
return;
}
var subscribers = rosObject.GetComponents <ROSBridgeSubscriber>();
var publishers = rosObject.GetComponents <ROSBridgePublisher>();
var services = rosObject.GetComponents <ROSBridgeService>();
foreach (var sub in subscribers)
{
m_ROS.RemoveSubscriber(sub.GetType());
}
foreach (var pub in publishers)
{
m_ROS.RemovePublisher(pub.GetType());
}
foreach (var serv in services)
{
m_ROS.RemoveServiceResponse(serv.GetType());
}
m_ROSObjects.Remove(rosObject);
}
