This package is used to send poses from a machine running ROS2 to another machine running ROS1. A UDP server is used in the machine runnning ROS2. The UDP server subscribes to a topic with a PoseArray message and sends the pose as an array to the UDP client. The UDP client is used in the machine running ROS. The UDP client receive the array containing the poses by the UDP server and publishes a PoseStamped message in ROS.
The first message sent is a "hello" message and it is only used to debug connection issues.
To build the package in the machine running ROS2 (where the UDP server is supposed to run), after cloning the repository, follow these instructions.
- Rename the file CMakeLists ament.txt in CMakeLists.txt.
- Rename the file package ament.xml in package.xml.
- Compile the package using:
colcon build --packages-select ros2_udp
To build the package in the machine with ROS (where the UDP client is supposed to run), after cloning the repository, follow these instructions.
- Rename the file CMakeLists catkin.txt in CMakeLists.txt.
- Rename the file package catkin.xml in package.xml.
- Compile the package using:
catkin_make
To run the UDP server, in the machine running ROS2, type:
ros2 run ros2_udp udp_server
To run the UDP client, in the machine running ROS, type:
rosrun ros2_udp udp_client