## Code Example ##
A simple Publisher/Subscriber Example:

```cs
using System;
using RosSharp.RosBridgeClient;

// commands on ROS system:
// roscore
// rostopic echo /talker
// rostopic pub /listener std_msgs/String "World!"
// roslaunch rosbridge_server rosrbridge_websocket.launch

public class HelloWorld
{
    public static void Main(string[] args)
    {
        RosSocket rosSocket = new RosSocket("ws://192.168.0.101:9090");

        // Publication:
        int publication_id = rosSocket.Advertize("/talker", "std_msgs/String");

        StandardString message = new StandardString();
        message.data = "Hello!";
        rosSocket.Publish(publication_id, message);

        // Subscription Example:
        int subscription_id = rosSocket.Subscribe("/listener", "std_msgs/String", subscriptionHandler);

        Console.WriteLine("Press any key to close...");
        Console.ReadKey(true);
        rosSocket.Close();
    }
    private static void subscriptionHandler(Message message)
    {
        StandardString standardString = (StandardString)message;
        Console.WriteLine(standardString.data);
    }
}


```





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