Pass ROS master as hostname and port to ROSSimaulation, we will need to

use hostname for some type of simulation control connection in the
future

jdeeco-ros/src/cz/cuni/mff/d3s/jdeeco/ros/sim/ROSSimulation.java

@@ -8,41 +8,53 @@
 public class ROSSimulation implements SimulationProvider {
 	/**
 	 * The ROS_MASTER_URI value.
+	 * 
+	 * Used to connect to ROS master via ROS protocol
+	 */
+	private final String ros_master_uri;
+
+	/**
+	 * The ROS_MASTER
+	 * 
+	 * Used to connect to ROS master in order to start up the ROS simulation
 	 */
-	private String ros_master;
+	private final String ros_master;
 
 	/**
 	 * The ROS_HOST address.
 	 */
-	private String ros_host;
+	private final String ros_host;
 
 	/**
 	 * Creates ROS simulation
 	 * 
-	 * 
-	 * 
 	 * @param ros_master
+	 *            ROS machine hostname or IP address
 	 * @param ros_host
+	 *            Local hostname or IP address
 	 */
-	public ROSSimulation(String ros_master, String ros_host) {
+	public ROSSimulation(String ros_master, int ros_master_port, String ros_host) {
 		this.ros_master = ros_master;
 		this.ros_host = ros_host;
+		this.ros_master_uri = String.format("http://%s:%d", ros_master, ros_master_port);
 	}
 
 	/**
 	 * Creates ROS services instance with parameters specific to this simulation
-	 * @param namespace Robot namespace
+	 * 
+	 * @param namespace
+	 *            Robot namespace
 	 * @return RosServices instance for robot
 	 */
 	public RosServices createROSServices(String namespace) {
-		return new RosServices(ros_master, ros_host, namespace);
+		return new RosServices(ros_master_uri, ros_host, namespace);
 	}
-	
+
 	/**
 	 * TODO: Report back ROS time, for now we expect simulation to be in sync with wall time
 	 * 
-	 * ROS simulation is not proper simulation, it simulates hardware, but not time compression. Simulated hardware
-	 * runs at "almost" wall time and the controller (jDEECo) has to keep up with it.
+	 * ROS simulation is not proper simulation, it simulates hardware, but not time compression. Simulated hardware runs
+	 * at "almost" wall time and the controller (jDEECo) has to keep up with it.
 	 *
 	 */
 	class ROSTimer extends WallTimeTimer implements SimulationTimer {
@@ -51,7 +63,7 @@ public void start(long duration) {
 			start();
 		}
 	};
-	
+
 	@Override
 	public SimulationTimer getTimer() {
 		return new ROSTimer();

jdeeco-ros/test/cz/cuni/mff/d3s/jdeeco/ros/leaderfollowerdemo/RobotLeaderFollowerDemo.java

@@ -30,12 +30,11 @@ public static void main(String[] args) throws AnnotationProcessorException, Inte
 	public void testTravel() throws AnnotationProcessorException, InterruptedException, DEECoException,
 			InstantiationException, IllegalAccessException, IOException {
 
-		ROSSimulation rosSim = new ROSSimulation("http://192.168.56.101:11311", "192.168.56.1");
+		ROSSimulation rosSim = new ROSSimulation("192.168.56.101", 11311, "192.168.56.1");
 
 		// Create main application container
 		DEECoSimulation realm = new DEECoSimulation(rosSim.getTimer());
 
-
 		// Configure loop-back networking for all nodes
 		realm.addPlugin(Network.class);
 		realm.addPlugin(DefaultKnowledgePublisher.class);