udp_socket_node.cpp

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#include <boost/asio.hpp>
#include <boost/bind.hpp>
#include <boost/thread.hpp>

#include <ros/ros.h>

#include "rosserial_server/udp_socket_session.h"

using boost::asio::ip::udp;
using boost::asio::ip::address;


int main(int argc, char* argv[])
{
  ros::init(argc, argv, "rosserial_server_udp_socket_node");

  int server_port;
  int client_port;
  std::string client_addr;
  ros::param::param<int>("~server_port", server_port, 11411);
  ros::param::param<int>("~client_port", client_port, 11411);
  ros::param::param<std::string>("~client_addr", client_addr, "127.0.0.1");

  boost::asio::io_service io_service;
  rosserial_server::UdpSocketSession udp_socket_session(
      io_service,
      udp::endpoint(udp::v4(), server_port),
      udp::endpoint(address::from_string(client_addr), client_port));
  io_service.run();

  return 0;
}