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Trying multiple udp camera senders

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This commit is contained in:
Corwin Perren
2018-02-26 20:52:01 -08:00
parent 31daf96a88
commit 5e26cb585f
2 changed files with 141 additions and 24 deletions
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41
software/rover/nimbro_topic_transport/launch/udp_camera_receiver.launch
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@@ -1,14 +1,37 @@
<launch> <launch>
<!-- <node name="udp_receiver" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
This launch file runs a udp_receiver node, which receives topics <param name="port" value="17001" />
over the network on port 17001 and publishes them on the local roscore. </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"> <node name="udp_receiver3" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<!-- The port to receive packets on --> <param name="port" value="17003" />
<param name="port" value="17002" /> </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> </launch>

124
software/rover/nimbro_topic_transport/launch/udp_camera_sender.launch
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@@ -1,16 +1,4 @@
<launch> <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" /> <arg name="target" default="192.168.1.10" />
<!-- The UDP sender node --> <!-- The UDP sender node -->
@@ -18,9 +6,115 @@
<!-- The destination host name or IP address --> <!-- The destination host name or IP address -->
<param name="destination_addr" value="$(arg target)" /> <param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17002" /> <param name="destination_port" value="17001" />
<!-- Load the list of topics from a YAML file --> <!-- 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> </node>
</launch> </launch>