Init

.gitignore

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+bin/
+obj/
+/packages/
+riderModule.iml
+/_ReSharper.Caches/

ROSNET6.sln

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+
+Microsoft Visual Studio Solution File, Format Version 12.00
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ROSNET6", "ROSNET6\ROSNET6.csproj", "{471266C0-8225-43B0-928D-D91FEF2947ED}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{471266C0-8225-43B0-928D-D91FEF2947ED}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{471266C0-8225-43B0-928D-D91FEF2947ED}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{471266C0-8225-43B0-928D-D91FEF2947ED}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{471266C0-8225-43B0-928D-D91FEF2947ED}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+EndGlobal

ROSNET6/IObservableROSWorker.cs

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+namespace ROSNET6;
+
+public interface IObservableROSWorker<in TArg, out T>
+{
+    IObservable<T> GetObservable();
+    Task InitWorker(TArg arg);
+}

ROSNET6/Program.cs

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+using ROSNET6;
+using Serilog;
+using Uml.Robotics.Ros;
+
+Log.Logger = new LoggerConfiguration()
+    .MinimumLevel.Debug()
+    .WriteTo.Console()
+    .CreateLogger();
+
+
+var host = Host.CreateDefaultBuilder(args).UseSerilog()
+    .ConfigureServices(services => { services.AddSingleton<ROSWorker>(); })
+    .Build();
+
+ROS.Init(Array.Empty<string>(), "ROSNET6");
+var spinner = new AsyncSpinner();
+spinner.Start();
+
+var rosWorker = host.Services.GetService<ROSWorker>();
+
+IObservable<Messages.std_msgs.String> observable = rosWorker.GetObservable();
+IDisposable disposable = observable.Subscribe(msg =>
+{
+    Log.Information("Received message. \n" + $"MessageType: {msg.MessageType} \n" + $"Data: {msg.data} \n");
+});
+
+NodeHandle node = new NodeHandle();
+await rosWorker.InitWorker(node);
+
+await host.RunAsync();

ROSNET6/Properties/launchSettings.json

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+{
+  "profiles": {
+    "ROSNET6": {
+      "commandName": "Project",
+      "dotnetRunMessages": true,
+      "environmentVariables": {
+        "DOTNET_ENVIRONMENT": "Development",
+        "ROS_MASTER_URI": "http://localhost: 11311"
+      }
+    }
+  }
+}

ROSNET6/ROSNET6.csproj

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+<Project Sdk="Microsoft.NET.Sdk.Worker">
+
+    <PropertyGroup>
+        <TargetFramework>net6.0</TargetFramework>
+        <Nullable>enable</Nullable>
+        <ImplicitUsings>enable</ImplicitUsings>
+        <UserSecretsId>dotnet-ROSNET6-E5150359-B512-4BC0-BE21-938FBE44DDC6</UserSecretsId>
+    </PropertyGroup>
+
+    <ItemGroup>
+        <PackageReference Include="Microsoft.Extensions.Hosting" Version="6.0.1"/>
+        <PackageReference Include="Serilog" Version="2.11.0"/>
+        <PackageReference Include="Serilog.Extensions.Hosting" Version="5.0.1"/>
+        <PackageReference Include="Serilog.Extensions.Logging" Version="3.1.0"/>
+        <PackageReference Include="Serilog.Sinks.Console" Version="4.0.1"/>
+        <PackageReference Include="System.Reactive" Version="5.0.0"/>
+        <PackageReference Include="System.Reactive.Core" Version="5.0.0"/>
+        <PackageReference Include="System.Reactive.Linq" Version="5.0.0"/>
+        <PackageReference Include="Uml.Robotics.Ros" Version="1.1.2"/>
+        <PackageReference Include="YAMLParser" Version="1.0.0"/>
+    </ItemGroup>
+</Project>

ROSNET6/ROSWorker.cs

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+using System.Reactive.Concurrency;
+using System.Reactive.Linq;
+using System.Reactive.Subjects;
+using Uml.Robotics.Ros;
+using String = Messages.std_msgs.String;
+
+namespace ROSNET6;
+
+public class ROSWorker : IObservableROSWorker<NodeHandle, String>
+{
+    private readonly ILogger<ROSWorker> _logger;
+    private readonly Subject<String> _subject = new();
+    private Subscriber? _subscriber;
+
+    public ROSWorker(ILogger<ROSWorker> logger)
+    {
+        _logger = logger;
+        _logger.LogInformation("ROSWorker: constructed.");
+    }
+
+    public IObservable<String> GetObservable() => _subject.ObserveOn(Scheduler.NewThread).AsObservable();
+
+    public async Task InitWorker(NodeHandle nodeHandle)
+    {
+        try
+        {
+            await nodeHandle.SubscribeAsync<String>(
+                "/chatter",
+                1,
+                cb => _subject.OnNext(cb));
+            _logger.LogInformation("ROSWorker: Subscriber initialized.");
+
+            ROS.WaitForShutdown();
+        }
+        catch (Exception e)
+        {
+            _logger.LogError("ROSWorker: Subscribe failed.\\n {Message}", e.Message);
+            throw;
+        }
+    }
+}