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));
-  }
-
-  Request publishReq(dynamic message) {
-    return Request(
+    await safeSend(Request(
       op: 'publish',
       topic: name,
       id: publishId,
       msg: message,
       latch: latch,
-    );
+    ));
   }
 
   /// Advertise the topic.
@@ -163,23 +153,19 @@ class Topic {
     if (!isAdvertised) {
       // Send the advertisement request.
       advertiseId = ros.requestAdvertiser(name);
-      await safeSend(advertiseReq());
+      await safeSend(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();
     }
   }
 
-  Request advertiseReq() {
-    return Request(
-      op: 'advertise',
-      id: advertiseId,
-      type: type,
-      topic: name,
-      latch: latch,
-      queueSize: queueSize,
-    );
-  }
-
   /// Wait for the connection to close and then reset advertising variables.
   Future<void> watchForClose() async {
     if (!reconnectOnClose) {
@@ -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