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Added full end effector transports.

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This commit is contained in:
Corwin Perren
2018-03-06 17:13:18 -08:00
parent 503b86f41f
commit 381eccf4b3
6 changed files with 71 additions and 30 deletions
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31
software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
View File

@@ -1,36 +1,51 @@
<launch>
<group ns="cameras">
<node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<node name="chassis_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17001" />
</node>
<node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<node name="undercarriage_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17002" />
</node>
<node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<node name="main_navigation_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17003" />
</node>
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<node name="end_effector_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17004" />
</node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17005" />
</node>
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17006" />
</node>
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17007" />
</node>
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17008" />
</node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17009" />
</node>
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17010" />
</node>
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17011" />
</node>
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17012" />
</node>
</group>
</launch>

48
software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
View File

@@ -2,9 +2,41 @@
<group ns="sender_transports">
<arg name="target" default="192.168.1.15" />
<node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="chassis_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17001" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_1280x720/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<node name="undercarriage_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17002" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_1280x720/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<node name="main_navigation_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17003" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_1280x720/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<node name="end_effector_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17004" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_1280x720/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17005" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_640x360/compressed", compress: false, rate: 30.0}]
</rosparam>
@@ -12,7 +44,7 @@
<node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17002" />
<param name="destination_port" value="17006" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_640x360/compressed", compress: false, rate: 30.0}]
</rosparam>
@@ -20,7 +52,7 @@
<node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17003" />
<param name="destination_port" value="17007" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_640x360/compressed", compress: false, rate: 30.0}]
</rosparam>
@@ -28,7 +60,7 @@
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17004" />
<param name="destination_port" value="17008" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_640x360/compressed", compress: false, rate: 30.0}]
</rosparam>
@@ -36,7 +68,7 @@
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17005" />
<param name="destination_port" value="17009" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>
@@ -44,7 +76,7 @@
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17006" />
<param name="destination_port" value="17010" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>
@@ -52,7 +84,7 @@
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17007" />
<param name="destination_port" value="17011" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>
@@ -60,7 +92,7 @@
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17008" />
<param name="destination_port" value="17012" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>