protected virtual void Start()
{
if (this.rosBridgeIP.Equals(string.Empty))
{
this.rosBridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP;
}
if (this.rosBridgePort == 0)
{
this.rosBridgePort = ConfigManager.Instance.configInfo.rosbridgePort;
}
if (!RosConnectionManager.Instance.rosConnections.rosBridgeWebSocketConnectionMap.ContainsKey(topicName))
{
this.webSocketConnection = new SIGVerse.RosBridge.RosBridgeWebSocketConnection(rosBridgeIP, rosBridgePort);
RosConnectionManager.Instance.rosConnections.rosBridgeWebSocketConnectionMap.Add(topicName, this.webSocketConnection);
this.publisher = this.webSocketConnection.Advertise <Tmsg>(topicName);
// Connect to ROSbridge server
this.webSocketConnection.Connect();
}
else
{
this.webSocketConnection = RosConnectionManager.Instance.rosConnections.rosBridgeWebSocketConnectionMap[topicName];
this.publisher = this.webSocketConnection.Advertise <Tmsg>(topicName);
}
}
void Start()
{
if (!ConfigManager.Instance.configInfo.rosbridgeIP.Equals(string.Empty))
{
this.rosBridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP;
this.rosBridgePort = ConfigManager.Instance.configInfo.rosbridgePort;
}
this.webSocketConnection = new RosBridgeWebSocketConnection(rosBridgeIP, rosBridgePort);
this.stringPublisher = this.webSocketConnection.Advertise <std_msgs.String>(topicName);
// Connect to ROSbridge server
this.webSocketConnection.Connect();
this.stringMessage = new std_msgs.String();
}
public void SetConnection(RosBridgeWebSocketConnection webSocketConnection)
{
this.webSocketConnection = webSocketConnection;
}