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- /*
- © Siemens AG, 2017-2018
- Author: Dr. Martin Bischoff (martin.bischoff@siemens.com)
- Licensed under the Apache License, Version 2.0 (the "License");
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
- <http://www.apache.org/licenses/LICENSE-2.0>.
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
- */
- using UnityEngine;
- namespace RosSharp.RosBridgeClient
- {
- [RequireComponent(typeof(RosConnector))]
- public abstract class UnityPublisher<T> : MonoBehaviour where T : Message
- {
- public string Topic;
- private string publicationId;
- private RosConnector rosConnector;
- protected virtual void Start()
- {
- rosConnector = GetComponent<RosConnector>();
- publicationId = rosConnector.RosSocket.Advertise<T>(Topic);
- }
- protected void Publish(T message)
- {
- rosConnector.RosSocket.Publish(publicationId, message);
- }
- }
- }
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