www.gusucode.com > robotsimulink 工具箱 matlab源码程序 > robotsimulink/robotslros/+robotics/+slros/+internal/+sim/MsgNetOutputStream.m
classdef MsgNetOutputStream < robotics.slros.internal.sim.MsgOutputStream %This class is for internal use only. It may be removed in the future. % MsgNetOutputStream provides a sink of ROS messages (the messages are % sent to the ROS network via a Publisher). It is analogous to a % socket-based OutputStream in Java. % Copyright 2014 The MathWorks, Inc. properties Topic MessageType end properties Publisher end methods function obj = MsgNetOutputStream(topic, msgType, nodeObj) % Do not canonicalize the topic (i.e., don't prepend a "/" in % front) obj.Topic = topic; obj.MessageType = msgType; obj.Publisher = robotics.ros.Publisher(nodeObj, obj.Topic, obj.MessageType); end function sendMessage(obj, msg) obj.Publisher.send(msg); end end end