This package was designed as a generic package to assist with interfacing ROS with the UDP transport layer. It provides ROS Services for creating sockets, sending and receiving UDP data.
Supported platforms/releases:
| Platform | ROS Release |
|---|---|
| Ubuntu 16.04 Bionic | ROS Kinetic |
| Ubuntu 18.04 Bionic | ROS Melodic |
| Ubuntu 20.04 Bionic | ROS Noetic |
Quickstart
Make sure you have one of the above ROS distributions installed on your system.
Install like any other ROS package:
Getting Started
There are two ways of utlizing this package:
- using the provided launch file and launching from the command line
roslaunch udp_com udp_com.launch
- integrating into a custom project via source code
In either case, the udp_com package provides ROS services for interfacing with the UDP transport layer:
- create_socket_service: creates a UDP socket and creates an instance to receive/send data
- send_service: creates a ROS service to send data to a specific socket
Please review the source code documentation for more details on how the project is structured.
From source
For anyone already familiar with ROS, please see how this package is utilized and implemented in the hfl_driver package.
First, make sure your using the targeted platform and releases listed above.
Go ahead and clone this repo into your catkin_ws:
Next, from your catkin_ws directory compile the source code:
After successful compilation source your newly generated workspace:
And now you should be able to run the udp_com launch file:
Future work
We are currently working towards open-sourcing a ROS2 version of this driver with the same functionality. Star or watch this repo to stay updated on future releases.
