Receiving Data Using ROSBridgeLib

In order to receive data from ROSBridgeLib it is necessary to create a class which supports the message type which you wish to receive. Many message types are provided by the library already, so be sure to check whether the message type you need is predefined. It is helpful to refer to other library messages while defining your own.

Be sure to check the library for examples of how to create new subscribers, publishers and message types. Note that the template followed by all message type classes is similar, so when writing a new one a good bet is to just follow the template set by other message types in the library.

It may also be helpful to look at the ROSBridgeWebSocketConnection.cs script to get an understanding of how messages are received and handled by the API.