Beispiel #1
0
	udp_tracker()
		: m_udp_announces(0)
		, m_socket(m_ios)
		, m_port(0)
		, m_abort(false)
	{
		error_code ec;
		m_socket.open(udp::v4(), ec);
		if (ec)
		{
			std::printf("UDP Error opening listen UDP tracker socket: %s\n", ec.message().c_str());
			return;
		}

		m_socket.bind(udp::endpoint(address_v4::any(), 0), ec);
		if (ec)
		{
			std::printf("UDP Error binding UDP tracker socket to port 0: %s\n", ec.message().c_str());
			return;
		}
		m_port = m_socket.local_endpoint(ec).port();
		if (ec)
		{
			std::printf("UDP Error getting local endpoint of UDP tracker socket: %s\n", ec.message().c_str());
			return;
		}

		std::printf("%s: UDP tracker initialized on port %d\n", time_now_string(), m_port);

		m_thread = std::make_shared<std::thread>(&udp_tracker::thread_fun, this);
	}
	dht_server()
		: m_dht_requests(0)
		, m_socket(m_ios)
		, m_port(0)
	{
		error_code ec;
		m_socket.open(udp::v4(), ec);
		if (ec)
		{
			fprintf(stderr, "Error opening listen DHT socket: %s\n", ec.message().c_str());
			return;
		}

		m_socket.bind(udp::endpoint(address_v4::any(), 0), ec);
		if (ec)
		{
			fprintf(stderr, "Error binding DHT socket to port 0: %s\n", ec.message().c_str());
			return;
		}
		m_port = m_socket.local_endpoint(ec).port();
		if (ec)
		{
			fprintf(stderr, "Error getting local endpoint of DHT socket: %s\n", ec.message().c_str());
			return;
		}

		fprintf(stderr, "%s: DHT initialized on port %d\n", time_now_string(), m_port);

		m_thread.reset(new libtorrent::thread(boost::bind(&dht_server::thread_fun, this)));
	}
Beispiel #3
0
	dht_server()
		: m_dht_requests(0)
		, m_socket(m_ios)
		, m_port(0)
	{
		error_code ec;
		m_socket.open(udp::v4(), ec);
		if (ec)
		{
			std::printf("Error opening listen DHT socket: %s\n", ec.message().c_str());
			return;
		}

		m_socket.bind(udp::endpoint(address_v4::any(), 0), ec);
		if (ec)
		{
			std::printf("Error binding DHT socket to port 0: %s\n", ec.message().c_str());
			return;
		}
		m_port = m_socket.local_endpoint(ec).port();
		if (ec)
		{
			std::printf("Error getting local endpoint of DHT socket: %s\n", ec.message().c_str());
			return;
		}

		std::printf("%s: DHT initialized on port %d\n", time_now_string(), m_port);

		m_thread = std::make_shared<std::thread>(&dht_server::thread_fun, this);
	}
Beispiel #4
0
	udp_tracker()
		: m_udp_announces(0)
		, m_socket(m_ios)
		, m_port(0)
	{
		error_code ec;
		m_socket.open(udp::v4(), ec);
		if (ec)
		{
			fprintf(stderr, "UDP Error opening listen UDP tracker socket: %s\n", ec.message().c_str());
			return;
		}

		m_socket.bind(udp::endpoint(address_v4::any(), 0), ec);
		if (ec)
		{
			fprintf(stderr, "UDP Error binding UDP tracker socket to port 0: %s\n", ec.message().c_str());
			return;
		}
		m_port = m_socket.local_endpoint(ec).port();
		if (ec)
		{
			fprintf(stderr, "UDP Error getting local endpoint of UDP tracker socket: %s\n", ec.message().c_str());
			return;
		}

		fprintf(stderr, "%s: UDP tracker initialized on port %d\n", time_now_string(), m_port);

		m_thread.reset(new thread(boost::bind(&udp_tracker::thread_fun, this)));
	}
  int init()
  {
    // Use global namespace for node
    node_ = ros::NodeHandlePtr(new ros::NodeHandle());
    // Get tf_prefix from global namespace
    node_->param("tf_prefix", tf_prefix_, std::string(""));

    // Use private namespace for parameters
    pnode_ = ros::NodeHandlePtr(new ros::NodeHandle("~"));
    pnode_->param("publish_rate", publish_rate_, PUBLISH_RATE);

    pnode_->param("fixed_frame_id", fixed_frame_id_, std::string("odom"));
    fixed_frame_id_ = tf::resolve(tf_prefix_, fixed_frame_id_);

    pnode_->param("publish_odom_tf", publish_odom_tf_, true);

    pnode_->param("crio/ip", crio_ip_, std::string("127.0.0.1"));
    pnode_->param("crio/command_port", crio_cmd_port_, std::string("39000"));
    pnode_->param("crio/state_port", crio_state_port_, std::string("39001"));
    pnode_->param("crio/socket_timeout", socket_timeout_, 10);

    VehicleKinematics::Parameters kin_params;
    tfScalar minimum_radius_outer;

    if (!pnode_->getParam("kinematics/frame_id", kin_params.frame_id))
    {
      ROS_WARN_STREAM(pnode_->getNamespace() << "/kinematics/frame_id parameter is not set");
    }
    else
    {
      kin_params.frame_id = tf::resolve(tf_prefix_, kin_params.frame_id);
    }

    if (!pnode_->getParam("kinematics/wheelbase", kin_params.wheelbase_length))
    {
      ROS_FATAL_STREAM(pnode_->getNamespace() << "/kinematics/wheelbase parameter is not set");
      return -1;
    }
    if (!pnode_->getParam("kinematics/track", kin_params.track_width))
    {
      ROS_FATAL_STREAM( pnode_->getNamespace() << "/kinematics/track parameter is not set");
      return -1;
    }
    if (!pnode_->getParam("kinematics/rotation_center", kin_params.rotation_center))
    {
      ROS_WARN_STREAM(
          pnode_->getNamespace()
          << "/kinematics/rotation_center parameter is not set. Using default: wheelbase/2 = "
          << kin_params.wheelbase_length / 2);
      kin_params.rotation_center = kin_params.wheelbase_length / 2;
    }
    if (!pnode_->getParam("kinematics/minimum_radius_outer", minimum_radius_outer))
    {
      ROS_FATAL_STREAM(pnode_->getNamespace() << "/kinematics/minimum_radius_outer parameter is not set");
      return -1;
    }
    else
    {
      kin_params.minimum_radius = minimum_radius_outer - kin_params.track_width / 2;
    }
    if (!pnode_->getParam("kinematics/steering_ratio", kin_params.steering_ratio))
    {
      ROS_FATAL_STREAM(pnode_->getNamespace() << "/kinematics/steering_ratio parameter is not set");
      return -1;
    }

//    kin_(2.7, 1.626, 1.35);
    kin_ = boost::make_shared<VehicleKinematics>(kin_params);

    sub_ = node_->subscribe<kut_ugv_msgs::MotionCommandStamped>("motion_command", 200,
                                                                &CompactRIOCommunicationNode::motionCommand, this);
    odom_pub_ = node_->advertise<nav_msgs::Odometry>("odom", 200);
    state_pub_ = node_->advertise<kut_ugv_vehicle::StateStamped>("state", 200);

    tf_br_ = boost::shared_ptr<tf::TransformBroadcaster>(new tf::TransformBroadcaster);

    timeout_ = boost::posix_time::seconds(socket_timeout_);
    send_ep_ = udp::endpoint(boost::asio::ip::address::from_string(crio_ip_), std::atoi(crio_cmd_port_.c_str()));
    receive_ep_ = udp::endpoint(udp::v4(), std::atoi(crio_state_port_.c_str()));

    socket_.open(udp::v4());

    deadline_.expires_at(boost::posix_time::pos_infin);
    this->deadlineCallback(deadline_, socket_);

    return 0;
  }