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[unitree_legged_real] add rosparam to ros_server_udp

This commit is contained in:
Koki Shinjo 2022-04-01 16:22:18 +09:00
parent 2c908c97f7
commit 3cdcda0e6f
1 changed files with 9 additions and 2 deletions
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11
unitree_legged_real/src/exe/ros_server_udp.cpp
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@ -18,7 +18,7 @@ using namespace UNITREE_LEGGED_SDK;
class Ros_Server_High class Ros_Server_High
{ {
public: public:
Ros_Server_High(): udp(8090, "192.168.123.161", 8082, sizeof(HighCmd), sizeof(HighState)){ Ros_Server_High(uint16_t local_port, const char* target_ip, uint16_t target_port): udp(local_port, target_ip, target_port, sizeof(HighCmd), sizeof(HighState)){
pub = n.advertise<unitree_legged_msgs::HighState>("high_state", 1); pub = n.advertise<unitree_legged_msgs::HighState>("high_state", 1);
sub = n.subscribe<unitree_legged_msgs::HighCmd>("high_cmd", 1, [&](const unitree_legged_msgs::HighCmdConstPtr& msg){SendHighROS=*msg;}); sub = n.subscribe<unitree_legged_msgs::HighCmd>("high_cmd", 1, [&](const unitree_legged_msgs::HighCmdConstPtr& msg){SendHighROS=*msg;});
sub_vel = n.subscribe<geometry_msgs::Twist>("cmd_vel", 1, &Ros_Server_High::CmdVelCB, this); sub_vel = n.subscribe<geometry_msgs::Twist>("cmd_vel", 1, &Ros_Server_High::CmdVelCB, this);
@ -123,7 +123,14 @@ void Ros_Server_High::RobotControl()
int main(int argc, char *argv[]){ int main(int argc, char *argv[]){
ros::init(argc, argv, "ros_server"); ros::init(argc, argv, "ros_server");
Ros_Server_High server; int local_port = 8090;
std::string target_ip = std::string("192.168.123.161");
int target_port = 8082;
ros::param::get("~local_port", local_port);
ros::param::get("~target_ip", target_ip);
ros::param::get("~target_port", target_port);
Ros_Server_High server(local_port, target_ip.c_str(), target_port);
LoopFunc loop_control("control_loop", 0.002, boost::bind(&Ros_Server_High::RobotControl, &server)); LoopFunc loop_control("control_loop", 0.002, boost::bind(&Ros_Server_High::RobotControl, &server));
LoopFunc loop_udpSend("UDP_Send", 0.002, 3, boost::bind(&Ros_Server_High::UDPSend, &server)); LoopFunc loop_udpSend("UDP_Send", 0.002, 3, boost::bind(&Ros_Server_High::UDPSend, &server));
LoopFunc loop_udpRecv("UDP_Recv", 0.002, 3, boost::bind(&Ros_Server_High::UDPRecv, &server)); LoopFunc loop_udpRecv("UDP_Recv", 0.002, 3, boost::bind(&Ros_Server_High::UDPRecv, &server));