lib/core/topic.dart

@@ -119,43 +119,33 @@ class Topic {
     }
   }
 
-  
-
   /// Unsubscribe from the topic.
   Future<void> unsubscribe() async {
     if (subscribeId != null) {
       // Send the request and reset the subscription variables.
-      await safeSend(unsubscribeReq());
+      await safeSend(Request(
+        op: 'unsubscribe',
+        id: subscribeId,
+        topic: name,
+      ));
       // await ros.requestUnsubscribe(id);
       subscription = null;
       subscribeId = null;
     }
   }
 
-  Request unsubscribeReq() {
-    return Request(
-      op: 'unsubscribe',
-      id: subscribeId,
-      topic: name,
-    );
-  }
-
   /// Publish a [message] to the topic.
   Future<void> publish(dynamic message) async {
     // Advertise the topic and then send the publish request.
     await advertise();
     publishId = ros.requestPublisher(name);
-    await safeSend(publishReq(message));
+    await safeSend(Request(
-  }
-
-  Request publishReq(dynamic message) {
-    return Request(
       op: 'publish',
       topic: name,
       id: publishId,
       msg: message,
       latch: latch,
-    );
+    ));
   }
 
   /// Advertise the topic.
@@ -163,21 +153,17 @@ class Topic {
     if (!isAdvertised) {
       // Send the advertisement request.
       advertiseId = ros.requestAdvertiser(name);
-      await safeSend(advertiseReq());
+      await safeSend(Request(
-      // If the ROS connection closes show that we're not advertising anymore.
-      watchForClose();
-    }
-  }
-
-  Request advertiseReq() {
-    return Request(
         op: 'advertise',
         id: advertiseId,
         type: type,
         topic: name,
         latch: latch,
         queueSize: queueSize,
-    );
+      ));
+      // If the ROS connection closes show that we're not advertising anymore.
+      watchForClose();
+    }
   }
 
   /// Wait for the connection to close and then reset advertising variables.
@@ -201,8 +187,6 @@ class Topic {
     }
   }
 
-
-
   /// Safely send a [message] to ROS.
   Future<void> safeSend(Request message) async {
     // Send the message but if we're not connected and the [reconnectOnClose] flag