39 namespace communication {
41 boost::asio::io_service& io_service,
42 const uint16_t& local_port)
43 : m_packet_handler(packet_handler)
44 , m_io_service(io_service)
50 auto endpoint = boost::asio::ip::udp::endpoint(boost::asio::ip::udp::v4(), local_port);
53 catch (
const std::exception& e)
55 ROS_ERROR(
"Exception while creating socket: %s", e.what());
61 boost::asio::io_service& io_service,
62 const boost::asio::ip::address_v4 host_ip,
63 const boost::asio::ip::address_v4 interface_ip,
64 const uint16_t& local_port)
65 : m_packet_handler(packet_handler)
66 , m_io_service(io_service)
68 if (!host_ip.is_multicast())
70 ROS_ERROR(
"Provided Host IP is not in the Multicast range!");
73 if (interface_ip.is_unspecified())
76 ROS_ERROR(
"Provided Interface IP is unspecified! Set it to the Interface IP which receives the "
77 "multicast packages.");
85 auto endpoint = boost::asio::ip::udp::endpoint(boost::asio::ip::udp::v4(), local_port);
87 m_socket_ptr->set_option(boost::asio::ip::multicast::join_group(host_ip, interface_ip));
89 catch (
const std::exception& e)
91 ROS_ERROR(
"Exception while creating socket: %s", e.what());
105 [
this](boost::system::error_code ec, std::size_t bytes_recvd) {
111 const std::size_t& bytes_transferred)
120 ROS_ERROR(
"Error in UDP handle receive: %i", error.value());