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40 行
1.3 KiB
40 行
1.3 KiB
#!/usr/bin/env python
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import rospy
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from tcp_endpoint.RosTCPServer import TCPServer
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from tcp_endpoint.RosPublisher import RosPublisher
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from tcp_endpoint.RosSubscriber import RosSubscriber
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from tcp_endpoint.RosService import 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_tcp_ip = rospy.get_param("/ROS_IP")
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ros_tcp_port = rospy.get_param("/ROS_TCP_PORT")
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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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unity_machine_ip = rospy.get_param("/UNITY_IP")
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unity_machine_port = rospy.get_param("/UNITY_SERVER_PORT")
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rospy.init_node(ros_node_name, anonymous=True)
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rate = rospy.Rate(10) # 10hz
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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, unity_machine_ip, unity_machine_port),
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}
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tcp_server = TCPServer(ros_tcp_ip, ros_tcp_port, ros_node_name, source_destination_dict, buffer_size, connections)
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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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