Skip to content

Latest commit

 

History

History
33 lines (19 loc) · 680 Bytes

README.md

File metadata and controls

33 lines (19 loc) · 680 Bytes

Why this package?

To transimit ros messages and other messages over udp,

because:

1. ROS doesn't support sending messages over different masters
2. We need to communicate between different robots, and we need to simulating & monitoring.

Why udp?

Because TCP protocol is not allowed to used according to RoboCup humanoid rules. So ZMQ is not

feasible is this scenario.

So we use Boost::asio.

Main usage

  1. Sending localization ros msg and other useful info back to monitor, a Qt gui.
  2. Sharing localization ros msg between robots.
  3. Listening to GameController.

How?

Manually serialize and deserialize ros msg, and sendRos by udp socket.