您最多选择25个主题
主题必须以中文或者字母或数字开头，可以包含连字符 (-)，并且长度不得超过35个字符
31 行
979 B
31 行
979 B
#!/usr/bin/env python
|
|
|
|
import rospy
|
|
|
|
from tcp_endpoint.RosTCPServer import TCPServer
|
|
from tcp_endpoint.RosPublisher import RosPublisher
|
|
from tcp_endpoint.RosSubscriber import RosSubscriber
|
|
from tcp_endpoint.RosService import RosService
|
|
|
|
from robotics_demo.msg import PosRot, UnityColor
|
|
from robotics_demo.srv import PositionService
|
|
|
|
def main():
|
|
ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
|
|
buffer_size = rospy.get_param("/TCP_BUFFER_SIZE", 1024)
|
|
connections = rospy.get_param("/TCP_CONNECTIONS", 10)
|
|
tcp_server = TCPServer(ros_node_name, buffer_size, connections)
|
|
|
|
tcp_server.source_destination_dict = {
|
|
'pos_srv': RosService('position_service', PositionService),
|
|
'pos_rot': RosPublisher('pos_rot', PosRot, queue_size=10),
|
|
'color': RosSubscriber('color', UnityColor, tcp_server)
|
|
}
|
|
|
|
rospy.init_node(ros_node_name, anonymous=True)
|
|
tcp_server.start()
|
|
rospy.spin()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|