manipulator_communication_nodes

Brief description:

This is ROS Node for organizing message transfer (type is std_msgs/String) via UDP protocol between two or more roscore devices inside one local network.

Also, this package implements broadcasting information from web server into ROS's topics.

Installation:

pip install -r requirements.txt

chmod +x scripts/*.py

Run communication node between web server and manipulators:

rosrun manipulator_communication_nodes web_to_manipulator.py

Run communication node between two manipulators:

On the first manipulator:

FIRST_MANIPULATOR_RECV_PORT = SECOND_MANIPULATOR_SEND_PORT

FIRST_MANIPULATOR_SEND_PORT = SECOND_MANIPULATOR_RECV_PORT

rosparam set /communication_between_manipulators/remote_manipulator_ip {SECOND_MANIPULATOR_IP}

rosparam set /communication_between_manipulators/recv_port {FIRST_MANIPULATOR_RECV_PORT}

rosparam set /communication_between_manipulators/send_port {FIRST_MANIPULATOR_SEND_PORT}

rosrun manipulator_communication_nodes manipulator_to_manipulator.py

On the second manipulator:

rosparam set /communication_between_manipulators/remote_manipulator_ip {FIRST_MANIPULATOR_IP}

rosparam set /communication_between_manipulators/recv_port {SECOND_MANIPULATOR_RECV_PORT}

rosparam set /communication_between_manipulators/send_port {SECOND_MANIPULATOR_SEND_PORT}

rosrun manipulator_communication_nodes manipulator_to_manipulator.py