From 5e26cb585f06eae727cfc90b1875deb97607d064 Mon Sep 17 00:00:00 2001
From: Corwin Perren <caperren@gmail.com>
Date: Mon, 26 Feb 2018 20:52:01 -0800
Subject: [PATCH] Trying multiple udp camera senders

---
 .../launch/udp_camera_receiver.launch         |  41 ++++--
 .../launch/udp_camera_sender.launch           | 124 +++++++++++++++---
 2 files changed, 141 insertions(+), 24 deletions(-)

diff --git a/software/rover/nimbro_topic_transport/launch/udp_camera_receiver.launch b/software/rover/nimbro_topic_transport/launch/udp_camera_receiver.launch
index ab72ac1..30be995 100644
--- a/software/rover/nimbro_topic_transport/launch/udp_camera_receiver.launch
+++ b/software/rover/nimbro_topic_transport/launch/udp_camera_receiver.launch
@@ -1,14 +1,37 @@
 <launch>
-	<!--
-	  This launch file runs a udp_receiver node, which receives topics
-	  over the network on port 17001 and publishes them on the local roscore.
+    <node name="udp_receiver" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <param name="port" value="17001" />
+    </node>
 
-	  See udp_sender.launch for the sender part.
-	-->
+    <node name="udp_receiver2" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <param name="port" value="17002" />
+    </node>
 
-	<node name="udp_receiver" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
-		<!-- The port to receive packets on -->
-		<param name="port" value="17002" />
+    <node name="udp_receiver3" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <param name="port" value="17003" />
+    </node>
 
-	</node>
+    <node name="udp_receiver3" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <param name="port" value="17004" />
+    </node>
+
+    <node name="udp_receiver3" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <param name="port" value="17005" />
+    </node>
+
+    <node name="udp_receiver3" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <param name="port" value="17006" />
+    </node>
+
+    <node name="udp_receiver3" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <param name="port" value="17007" />
+    </node>
+
+    <node name="udp_receiver3" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <param name="port" value="17008" />
+    </node>
+
+    <node name="udp_receiver3" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <param name="port" value="17009" />
+    </node>
 </launch>
diff --git a/software/rover/nimbro_topic_transport/launch/udp_camera_sender.launch b/software/rover/nimbro_topic_transport/launch/udp_camera_sender.launch
index 2aee5e3..26204c8 100644
--- a/software/rover/nimbro_topic_transport/launch/udp_camera_sender.launch
+++ b/software/rover/nimbro_topic_transport/launch/udp_camera_sender.launch
@@ -1,16 +1,4 @@
 <launch>
-	<!--
-	  This launch file runs a udp_sender node, which sends topics from the local
-	  roscore over the network on port 17001.
-
-	  By default, this launch file sends topics to your local machine for
-	  testing purposes. If you want to send to another machine, use
-	    roslaunch nimbro_topic_transport udp_sender.launch target:=other_host
-	  where other_host can be a host name or IP address.
-
-	  See udp_receiver.launch for the receiving part.
-	-->
-
 	<arg name="target" default="192.168.1.10" />
 
 	<!-- The UDP sender node -->
@@ -18,9 +6,115 @@
 
 		<!-- The destination host name or IP address -->
 		<param name="destination_addr" value="$(arg target)" />
-		<param name="destination_port" value="17002" />
-
+		<param name="destination_port" value="17001" />
 		<!-- Load the list of topics from a YAML file -->
-		<rosparam command="load" file="$(find nimbro_topic_transport)/launch/camera_topics.yaml" />
+		<rosparam param="topics">
+            [{name: "/cameras/camera_chassis/image_1280x720/compressed", compress: false, rate: 30.0}]
+        </rosparam>
+
+	</node>
+
+    	<!-- The UDP sender node -->
+	<node name="udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+
+		<!-- The destination host name or IP address -->
+		<param name="destination_addr" value="$(arg target)" />
+		<param name="destination_port" value="17002" />
+		<!-- Load the list of topics from a YAML file -->
+		<rosparam param="topics">
+            [{name: "/cameras/camera_undercarriage/image_1280x720/compressed", compress: false, rate: 30.0}]
+        </rosparam>
+
+	</node>
+
+    	<!-- The UDP sender node -->
+	<node name="udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+
+		<!-- The destination host name or IP address -->
+		<param name="destination_addr" value="$(arg target)" />
+		<param name="destination_port" value="17003" />
+		<!-- Load the list of topics from a YAML file -->
+		<rosparam param="topics">
+            [{name: "/cameras/main_navigation/image_1280x720/compressed", compress: false, rate: 30.0}]
+        </rosparam>
+
+	</node>
+
+    	<!-- The UDP sender node -->
+	<node name="udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+
+		<!-- The destination host name or IP address -->
+		<param name="destination_addr" value="$(arg target)" />
+		<param name="destination_port" value="17004" />
+		<!-- Load the list of topics from a YAML file -->
+		<rosparam param="topics">
+            [{name: "/cameras/camera_chassis/image_640x360/compressed", compress: false, rate: 30.0}]
+        </rosparam>
+
+	</node>
+
+    	<!-- The UDP sender node -->
+	<node name="udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+
+		<!-- The destination host name or IP address -->
+		<param name="destination_addr" value="$(arg target)" />
+		<param name="destination_port" value="17005" />
+		<!-- Load the list of topics from a YAML file -->
+		<rosparam param="topics">
+            [{name: "/cameras/camera_undercarriage/image_640x360/compressed", compress: false, rate: 30.0}]
+        </rosparam>
+
+	</node>
+
+    	<!-- The UDP sender node -->
+	<node name="udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+
+		<!-- The destination host name or IP address -->
+		<param name="destination_addr" value="$(arg target)" />
+		<param name="destination_port" value="17006" />
+		<!-- Load the list of topics from a YAML file -->
+		<rosparam param="topics">
+            [{name: "/cameras/main_navigation/image_640x360/compressed", compress: false, rate: 30.0}]
+        </rosparam>
+
+	</node>
+
+    	<!-- The UDP sender node -->
+	<node name="udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+
+		<!-- The destination host name or IP address -->
+		<param name="destination_addr" value="$(arg target)" />
+		<param name="destination_port" value="17007" />
+		<!-- Load the list of topics from a YAML file -->
+		<rosparam param="topics">
+            [{name: "/cameras/camera_chassis/image_256x144/compressed", compress: false, rate: 30.0}]
+        </rosparam>
+
+	</node>
+
+    	<!-- The UDP sender node -->
+	<node name="udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+
+		<!-- The destination host name or IP address -->
+		<param name="destination_addr" value="$(arg target)" />
+		<param name="destination_port" value="17008" />
+		<!-- Load the list of topics from a YAML file -->
+		<rosparam param="topics">
+            [{name: "/cameras/camera_undercarriage/image_256x144/compressed", compress: false, rate: 30.0}]
+        </rosparam>
+
+	</node>
+
+    	<!-- The UDP sender node -->
+	<node name="udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+
+		<!-- The destination host name or IP address -->
+		<param name="destination_addr" value="$(arg target)" />
+		<param name="destination_port" value="17009" />
+		<!-- Load the list of topics from a YAML file -->
+		<rosparam param="topics">
+            [{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 30.0}]
+        </rosparam>
+
 	</node>
 </launch>