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Closes #534 #563

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Closes #534 #563

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14 changes: 14 additions & 0 deletions packages/webviz-core/src/players/RosbridgePlayer.js
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,7 @@ export default class RosbridgePlayer implements Player {
_bobjects: BobjectMessage[] = []; // Queue of bobjects that we'll send in next _emitState() call.
_messageOrder: TimestampMethod = "receiveTime";
_requestTopicsTimeout: ?TimeoutID; // setTimeout() handle for _requestTopics().
_pendingTopicPublishers: ?(AdvertisePayload[]) = null;
_topicPublishers: { [topicName: string]: ROSLIB.Topic } = {};
_parsedMessageDefinitionsByTopic: ParsedMessageDefinitionsByTopic = {};
_bobjectTopics: Set<string> = new Set();
Expand Down Expand Up @@ -101,6 +102,12 @@ export default class RosbridgePlayer implements Player {
}
this._rosClient = rosClient;
this._requestTopics();

// If required, set publishers to what was requested before connection was established
if (this._pendingTopicPublishers) {
this.setPublishers(this._pendingTopicPublishers);
this._pendingTopicPublishers = null;
}
});

rosClient.on("error", (error) => {
Expand Down Expand Up @@ -326,6 +333,13 @@ export default class RosbridgePlayer implements Player {
publisher.unadvertise();
}
this._topicPublishers = {};

// If _rosClient is not set, defer publisher configuration to the connection event
if (!this._rosClient) {
this._pendingTopicPublishers = publishers;
return; // Stop here, otherwise topics will get created with ros = undefined
}

for (const { topic, datatype } of publishers) {
this._topicPublishers[topic] = new ROSLIB.Topic({
ros: this._rosClient,
Expand Down