Add new test node for integrated server

Author: wangzhao9562

test/tcp_ros_bridge_with_server_test.cpp

@@ -0,0 +1,45 @@
+/*                                                                                   
+ * Filename: tcp_ros_bridge_with_server.cpp
+ * Path: tcp_ros_bridge_with_server
+ * Created Date: Saturday, Faburary 27th 2021, 15:14:39         
+ * Author: zhao wang
+ * 
+ * Copyright (c) 2021 hust-arms
+ */
+
+#include <cstdio>
+#include <iostream>
+#include "tcp_ros_bridge/tcp_ros_bridge_with_server.h"
+
+boost::asio::io_service io_service;
+
+void run_service()
+{
+    std::cout << "[tcp_ros_bridge_with_server_test]: run service" << std::endl;
+    io_service.run();
+}
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "tcp_ros_bridge_with_server_test");
+
+    if(argc != 3)
+    {
+        std::cerr << "[tcp_ros_bridge_with_server_test]: Usage: tcp_ros_bridge_with_server_test <auv_name> <port>" << std::endl;
+        return -1;
+    }
+
+    tcp::endpoint listen_endpoint(tcp::v4(), atoi(argv[2]));
+
+    tcp_ros_bridge::server bridge(argv[1], io_service, listen_endpoint);
+
+    boost::thread* io_service_th = new boost::thread(boost::bind(&run_service));
+
+    ros::spin();
+
+    if(io_service_th)
+        delete io_service_th;
+
+    return 0;
+}
+