A bridge between TCP socket and DDS of ROS 2
Project description
ros2TCP
Creating a bridge between ROS 2 and TCP Socker
UNDER DEVELOPMENT
from ros2tcp.plugins import run_server
from ros2tcp.TCPsocket import TCPSocketServer
from ros2tcp.plugins import register_callback, register_service, register_plugin
from std_srvs.srv import SetBool
server = TCPSocketServer()
server.host = 'localhost'
server.port = 2040
request = SetBool.Request()
request.data = True
srv_1 = register_service(
n_name='test_node_1',
s_type=SetBool,
s_name='test_service',
req=request
)
srv_2 = register_service(
n_name='test_node_2',
s_type=SetBool,
s_name='test_service',
req=request
)
@register_callback
def my_callback_1(data):
return data.message + '1'
@register_callback
def my_callback_2(data):
return data.message + '2'
server.operations = register_plugin(
srv=srv_1,
cb=my_callback_1,
key=1
)
server.operations = register_plugin(
key=2,
srv=srv_2,
cb=my_callback_2
)
run_server(socket=server)
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