socket_node.cpp
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00001 
00034 #include <boost/asio.hpp>
00035 #include <boost/bind.hpp>
00036 #include <boost/thread.hpp>
00037 
00038 #include <ros/ros.h>
00039 
00040 #include "rosserial_server/session.h"
00041 #include "rosserial_server/tcp_server.h"
00042 
00043 int main(int argc, char* argv[])
00044 {
00045   // Initialize ROS.
00046   ros::init(argc, argv, "rosserial_server_socket_node");
00047   int port;
00048   ros::param::param<int>("~port", port, 11411);
00049 
00050   // Listen for rosserial TCP connections in background thread.
00051   boost::asio::io_service io_service;
00052   rosserial_server::TcpServer<
00053       rosserial_server::Session<boost::asio::ip::tcp::socket> > s(io_service, port);
00054   boost::thread(boost::bind(&boost::asio::io_service::run, &io_service));
00055   ROS_INFO_STREAM("Listening on port " << port);
00056 
00057   ros::spin();
00058   return 0;
00059 }


rosserial_server
Author(s): Mike Purvis
autogenerated on Thu Jun 6 2019 19:56:34