Sequence Type

[hakuturu583]

I want to use Sequence Type in ros2_dotnet and I succeed to publish sequence type of Basic Type in my fork.

[hakuturu583]

But, when subscribing Sequence Type of the Basic Type, the size of the sequence is too huge.
I want help.

[hakuturu583]

My fork is here.
https://github.com/OUXT-Polaris/ros2_dotnet/tree/sequence_type

[hakuturu583]

and my test code of publishing and subscribing Sequence Type is here.

[hakuturu583]

Listener

using System;
using System.Reflection;
using System.Runtime;
using System.Runtime.InteropServices;
//using System.Threading;

using ROS2;
using ROS2.Utils;

namespace ConsoleApplication {
  public class RCLDotnetListener {
    public static void Main (string[] args) {
      try
      {
        RCLdotnet.Init ();
        INode node = RCLdotnet.CreateNode ("listener");

        ISubscription<std_msgs.msg.Float32MultiArray> chatter_sub = node.CreateSubscription<std_msgs.msg.Float32MultiArray> (
          "chatter", msg => Console.WriteLine ("I heard: [" + msg.Data.Count + "]"));

        RCLdotnet.Spin (node);
      }
      catch(Exception ex)
      {
        Console.WriteLine( "\nMessage ---\n{0}", ex.Message );
        Console.WriteLine(
            "\nHelpLink ---\n{0}", ex.HelpLink );
        Console.WriteLine( "\nSource ---\n{0}", ex.Source );
        Console.WriteLine(
            "\nStackTrace ---\n{0}", ex.StackTrace );
        Console.WriteLine(
            "\nTargetSite ---\n{0}", ex.TargetSite );
      }
    }
  }
}

[hakuturu583]

Talker

using System;
using System.Reflection;
using System.Runtime;
using System.Runtime.InteropServices;
using System.Threading;
using System.Collections.Generic;

using ROS2;
using ROS2.Utils;

namespace ConsoleApplication {
  public class RCLDotnetTalker {
    public static void Main (string[] args) {
      RCLdotnet.Init ();

      INode node = RCLdotnet.CreateNode ("talker");

      try
      {
        std_msgs.msg.Float32MultiArray msg = new std_msgs.msg.Float32MultiArray();
        IPublisher<std_msgs.msg.Float32MultiArray> chatter_pub = node.CreatePublisher<std_msgs.msg.Float32MultiArray> ("chatter");
        int i = 1;

        while (RCLdotnet.Ok ()) {
          msg.Data = new List<float>{0.1f,0.2f};
          i++;
          //Console.WriteLine ("Publishing: \"" + msg.Data + "\"");
          chatter_pub.Publish (msg);

          // Sleep a little bit between each message
          Thread.Sleep (1000);
        }
      }
      catch(Exception ex)
      {
        Console.WriteLine( "\nMessage ---\n{0}", ex.Message );
        Console.WriteLine(
            "\nHelpLink ---\n{0}", ex.HelpLink );
        Console.WriteLine( "\nSource ---\n{0}", ex.Source );
        Console.WriteLine(
            "\nStackTrace ---\n{0}", ex.StackTrace );
        Console.WriteLine(
            "\nTargetSite ---\n{0}", ex.TargetSite );
      }

      /*
      int i = 1;

      while (RCLdotnet.Ok ()) {
        msg.Data = new List<float>{0.1f,0.2f};
        i++;
        //Console.WriteLine ("Publishing: \"" + msg.Data + "\"");
        chatter_pub.Publish (msg);

        // Sleep a little bit between each message
        Thread.Sleep (1000);
      }
      */
    }
  }
}

[hakuturu583]

I succeed to solve this issue.