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28 行
860 B
28 行
860 B
#!/usr/bin/env python
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import rospy
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from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService
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from robotics_demo.msg import PosRot, UnityColor
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from robotics_demo.srv import PositionService
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def main():
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ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
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buffer_size = rospy.get_param("/TCP_BUFFER_SIZE", 1024)
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connections = rospy.get_param("/TCP_CONNECTIONS", 10)
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tcp_server = TcpServer(ros_node_name, buffer_size, connections)
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tcp_server.source_destination_dict = {
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'pos_srv': RosService('position_service', PositionService),
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'pos_rot': RosPublisher('pos_rot', PosRot, queue_size=10),
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'color': RosSubscriber('color', UnityColor, tcp_server)
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}
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rospy.init_node(ros_node_name, anonymous=True)
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tcp_server.start()
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rospy.spin()
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if __name__ == "__main__":
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main()
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