Reliable TCP bridge for ros data transfer in unstable network. It will send/receive the specified ROS topics in ../config/ros_topics.yaml It uses zmq socket(PUB/SUB mode), which reconnects others autonomously and supports 1-N pub-sub connection even with TCP protocol. More...

#include "bridge_node.hpp"

Include dependency graph for bridge_node.cpp:

Go to the source code of this file.

Functions
template<typename T >
void	deserialize_pub (uint8_t *buffer_ptr, size_t msg_size, int i)

int	main (int argc, char **argv)

void	recv_func (int i)

bool	send_freq_control (int i)

void	stop_recv (int i)

void	stop_send (int i)

template<typename T , int i>
void	sub_cb (const T &msg)

Detailed Description

Reliable TCP bridge for ros data transfer in unstable network. It will send/receive the specified ROS topics in ../config/ros_topics.yaml It uses zmq socket(PUB/SUB mode), which reconnects others autonomously and supports 1-N pub-sub connection even with TCP protocol.

Author: Peixuan Shu (shupe.nosp@m.ixua.nosp@m.n@qq..nosp@m.com) Note: This program relies on ZMQPP (c++ wrapper around ZeroMQ). sudo apt install libzmqpp-dev

Core Idea: It would create the receving thread for each receiving ROS topic and send ROS messages in each sub_cb() callback.

Version: 1.0

Date: 2023-01-01

BSD 3-Clause License

Copyright: (c) 2023, Peixuan Shu All rights reserved.

Definition in file bridge_node.cpp.

Function Documentation

◆ deserialize_pub()

template<typename T >

void deserialize_pub	(	uint8_t *	buffer_ptr,
		size_t	msg_size,
		int	i
	)

Definition at line 100 of file bridge_node.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 183 of file bridge_node.cpp.

◆ recv_func()

void recv_func ( int i )

Definition at line 113 of file bridge_node.cpp.

◆ send_freq_control()

bool send_freq_control ( int i )

Definition at line 43 of file bridge_node.cpp.

◆ stop_recv()

void stop_recv ( int i )

Definition at line 173 of file bridge_node.cpp.

◆ stop_send()

void stop_send ( int i )

Definition at line 165 of file bridge_node.cpp.

◆ sub_cb()

template<typename T , int i>

void sub_cb ( const T & msg )

Definition at line 65 of file bridge_node.cpp.

Functions