import Ros from "./Ros.js";
import EventEmitter2 from "eventemitter2";
interface TopicOptions {
    ros: Ros;
    name: string;
    messageType: string;
    compression: "png" | "cbor" | "cbor-raw" | "none";
    throttle_rate: number;
    queue_size: number;
    latch: boolean;
    queue_length: number;
    reconnect_on_close: boolean;
}
/**
 * Publish and/or subscribe to a topic in ROS.
 *
 * Emits the following events:
 *  * 'warning' - if there are any warning during the Topic creation
 *  * 'message' - the message data from rosbridge
 *
 * @constructor
 * @param options - object with following keys:
 *   * ros - the ROSLIB.Ros connection handle
 *   * name - the topic name, like /cmd_vel
 *   * messageType - the message type, like 'std_msgs/String'
 *   * compression - the type of compression to use, like 'png', 'cbor', or 'cbor-raw'
 *   * throttle_rate - the rate (in ms in between messages) at which to throttle the topics
 *   * queue_size - the queue created at bridge side for re-publishing webtopics (defaults to 100)
 *   * latch - latch the topic when publishing
 *   * queue_length - the queue length at bridge side used when subscribing (defaults to 0, no queueing).
 *   * reconnect_on_close - the flag to enable resubscription and readvertisement on close event(defaults to true).
 */
declare class Topic extends EventEmitter2 {
    options: TopicOptions;
    ros: Ros;
    isAdvertised: boolean;
    waitForReconnect: boolean;
    subscribeId?: string;
    advertiseId?: string;
    callForSubscribeAndAdvertise: (message: any) => void;
    reconnectFunc: () => void;
    _messageCallback: (message: any) => void;
    constructor(options: Partial<TopicOptions>);
    subscribe(callback: (message: any) => void): void;
    unsubscribe(callback?: (message: any) => void): void;
    advertise(): void;
    unadvertise(): void;
    publish(message: any): void;
}
export default Topic;
//# sourceMappingURL=Topic.d.ts.map