public int Subscribe(string topic, Type messageType, RosSharedData.MessageHandler messageHandler, int throttle_rate = 0, int queue_length = 1, int fragment_size = int.MaxValue, string compression = "none")
{
string rosMessageType = MessageTypes.RosMessageType(messageType);
if (rosMessageType == null)
{
return(0);
}
return(Subscribe(topic, messageType, messageHandler, throttle_rate, queue_length, fragment_size, compression));
}
public int Subscribe(string topic, string rosMessageType, RosSharedData.MessageHandler messageHandler, int throttle_rate = 0, int queue_length = 1, int fragment_size = int.MaxValue, string compression = "none")
{
Type messageType = MessageTypes.MessageType(rosMessageType);
if (messageType == null)
{
return(0);
}
int id = generateId();
sharedData.AddSubscriber(id, topic, messageType, messageHandler);
sendOperation(new Subscription(id, topic, rosMessageType, throttle_rate, queue_length, fragment_size, compression));
return(id);
}
