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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/tcp_server.h"
00041
00042
00043 int main(int argc, char* argv[])
00044 {
00045 ros::init(argc, argv, "rosserial_server_socket_node");
00046
00047 int port;
00048 ros::param::param<int>("~port", port, 11411);
00049
00050 boost::asio::io_service io_service;
00051 rosserial_server::TcpServer<> tcp_server(io_service, port);
00052
00053 ROS_INFO_STREAM("Listening for rosserial TCP connections on port " << port);
00054 io_service.run();
00055 return 0;
00056 }