A ROS package providing a data interface to arbitrary non-ROS software and hardware interfaces via the UDP protocol. Implemented nodes can handle various message structures (see below).

The package is still under development and therefore rather unstable.

Nodes:

• udp_rcv_posee2q:
  • Receives a 6-element array ([posx posy posz roll pitch yaw]), converts the data to geometry_msgs/PoseStamped-messages and publishes to topic "pose". The node also broadcasts a transformation from "base_link" (assumed fixed) to "odom".
  • Parameters:
    • rate: Sampling rate [Hz] (int)
    • ip_loc: Local IP address ["0.0.0.0"] (String)
    • port_loc: Local port (int)
    • len_rcvbuf: Length of the UDP socket's receive buffer (SO_RCVBUF)
• udp_rcv_wrench:
  • Receives a 6-element array ([fx fy fz tx ty tz]), converts the data to geometry_msgs/WrenchStamped-messages and publishes to topic "ft".
  • Parameters:
    • rate: Sampling rate [Hz] (int)
    • ip_loc: Local IP address ["0.0.0.0"] (String)
    • port_loc: Local port (int)
    • len_rcvbuf: Length of the UDP socket's receive buffer (SO_RCVBUF)
• udp_rcv_array:
  • Receives an array of doubles of arbitrary length (provided in parameters), converts the data to std_msgs/Float64MultiArray-messages and publishes to topic "data".
  • Parameters:
    • rate: Sampling rate [Hz] (int)
    • ip_loc: Local IP address ["0.0.0.0"] (String)
    • port_loc: Local port (int)
    • len_rcvbuf: Length of the UDP socket's receive buffer (SO_RCVBUF)
    • len_array: Length of the received data array For instace, to recieve an array of double of size 8, one can use the command below:

  rosrun udp_interface udp_rcv_array _ip_loc:="192.1.1.1" _port_loc:=43000 _len_array:=8

• udp_snd_wrench:
  • Sends a 6-element array ([fx fy fz tx ty tz]) converted from geometry_msgs/WrenchStamped-messages obtained from topic "ft".
  • Parameters:
    • rate: Sampling rate [Hz] (int)
    • ip_rem: Remote IP address ["0.0.0.0"] (String)
    • port_rem: Remote port (int)
    • ip_loc: Local IP address ["0.0.0.0"] (String)
    • port_loc: Local port (int)
• udp_snd_array:
  • Sends an array of doubles of arbitrary length (provided in parameters), converts the data to std_msgs/Float64MultiArray-messages obtained from topic "data".
  • Parameters:
    • rate: Sampling rate [Hz] (int)
    • ip_rem: Remote IP address ["0.0.0.0"] (String)
    • port_rem: Remote port (int)
    • ip_loc: Local IP address ["0.0.0.0"] (String)
    • port_loc: Local port (int)
    • len_array: Length of the sent data array

Dependencies:

• https://github.com/tbs-ualberta/data_transmission.git

Installation:

1. Install data transmission library
2. cd ~/catkin_ws/src
git clone https://github.com/tbs-ualberta/udp_interface.git
cd ../
catkin_make