Publish and/or subscribe to a topic in ROS. Emits the following events: * 'warning' - if there are any warning during the Topic creation * 'message' - the message data from rosbridge
||object with following keys: * ros - the ROSLIB.Ros connection handle * name - the topic name, like /cmd_vel * messageType - the message type, like 'std_msgs/String' * compression - the type of compression to use, like 'png' or 'cbor' * throttle_rate - the rate (in ms in between messages) at which to throttle the topics * queue_size - the queue created at bridge side for re-publishing webtopics (defaults to 100) * latch - latch the topic when publishing * queue_length - the queue length at bridge side used when subscribing (defaults to 0, no queueing). * reconnect_on_close - the flag to enable resubscription and readvertisement on close event(defaults to true).|
Registers as a publisher for the topic.
Publish the message.
||A ROSLIB.Message object.|
Every time a message is published for the given topic, the callback will be called with the message object.
||function with the following params: * message - the published message|
Publish a connected ROS topic to a duplex stream. This stream can be piped to, which will publish to the topic
Unregisters as a publisher for the topic.
Unregisters as a subscriber for the topic. Unsubscribing stop remove all subscribe callbacks. To remove a call back, you must explicitly pass the callback function in.
||the optional callback to unregister, if * provided and other listeners are registered the topic won't * unsubscribe, just stop emitting to the passed listener|