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ROS UDP bridge

This repository engages a Poco net library with ROS to communicate with a non-ROS UDP client.

bring-up the server

To start the server, we need to use the following roslaung file:

roslaunch nautilus_udp_bridge bridge.launch

In case that we need a dummy odometry stub that is similar to the output of the robot_localization package (message type nav_msgs::Odometry), we can execute:

roslaunch nautilus_udp_bridge odometry_stub.launch

functionality

The bridge listens continiously the odometry topic. The client send 0 or 1 to enable transmition of UDP data or not.

testing

Use the standard linux tool nc like

nc -u 192.168.1.220 1234

if your host ip is that. After opening the connection, we send either 1 (to activate) or 0 (to shut down)

Or use the integrated dumb client by executing:

rosrun nautilus_udp_bridge dump_client

docker

Build the docker:

docker build . -t bridge:0.0.1

Run the docker:

docker run --network host -it bridge:0.0.1

built using

  • Ubuntu Linux 18 (Bionic)
  • ROS melodic
  • Poco library 1.8.0.1
  • Docker version 19.03.5

maintener

angelos plastropoulos