├── .gitignore
├── launch
    ├── udp_test.launch
    └── udp_rospy_test.launch
├── README.md
├── src
    ├── test_pub.py
    ├── udp_publisher.cpp
    └── udp_node.cpp
├── package.xml
├── CMakeLists.txt
└── include
    └── udp_node.h


/.gitignore:
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1 | .vscode
2 | 


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/launch/udp_test.launch:
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1 | <launch>
2 |     <node name="sub_node" pkg="udp_test" type="udp_node" output="screen" />
3 |     <node name="pub_node" pkg="udp_test" type="udp_pub_node" output="screen" />
4 | </launch>
5 | 


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/launch/udp_rospy_test.launch:
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1 | <launch>
2 |     <node name="sub_node" pkg="udp_test" type="udp_node" output="screen" />
3 |     <node name="pub_node" pkg="udp_test" type="test_pub.py" output="screen" />
4 | </launch>
5 | 


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/README.md:
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1 | # udp test
2 | 
3 | ros中使用udp进行订阅的测试
4 | 
5 | 在使用ROS进行通信的过程中。如果节点间采用有线网连接，网络可靠性高可以采用TCP传输协议。但是在使用wifi等无线网和机器人通信时，TCP连接不可靠经常会出现连接错误。此时采用UDP传输协议更为高效。
6 | 我们可以通过设置 `ros::TransportHints` 指定通信方式。
7 | 
8 | 通过测试发现rospy发布的消息是无法支持UDP协议的。只有通过roscpp发布的消息才支持UDP协议。
9 | 


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/src/test_pub.py:
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 1 | #!/usr/bin/env python
 2 | 
 3 | import rospy
 4 | from std_msgs.msg import String
 5 | import time
 6 | 
 7 | if __name__ == "__main__":
 8 |     rospy.init_node("rospy_udp_test")
 9 |     test_pub = rospy.Publisher("/chatter", String, queue_size=1)
10 |     while not rospy.is_shutdown():
11 |         test_pub.publish("hello")
12 |         rospy.loginfo("published: hello")
13 |         time.sleep(1)
14 | 


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/package.xml:
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 1 | <package format="2">
 2 |   <name>udp_test</name>
 3 |   <version>0.0.1</version>
 4 |   <description>
 5 |       udp subscribe test
 6 |   </description>
 7 |   <license>MIT</license>
 8 |   <author email="randoms@bwbot.org">Randoms</author>
 9 |   <maintainer email="randoms@bwbot.org">Randoms</maintainer>
10 |   <url type="website">http://github.com/bluewhalerobot/udp_test</url>
11 |   <url type="bugtracker">https://github.com/bluewhalerobot/udp_test/issues</url>
12 |   <url type="repository">https://github.com/bluewhalerobot/udp_test</url>
13 | 
14 |   <buildtool_depend>catkin</buildtool_depend>
15 |   <exec_depend>message_runtime</exec_depend>
16 |   <depend>message_generation</depend>
17 |   <depend>roscpp</depend>
18 |   <depend>std_msgs</depend>
19 | </package>


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/CMakeLists.txt:
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 1 | cmake_minimum_required(VERSION 2.8.3)
 2 | project(udp_test)
 3 | 
 4 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 5 | 
 6 | find_package(catkin REQUIRED COMPONENTS
 7 |   roscpp
 8 |   std_msgs
 9 |   message_generation
10 | )
11 | 
12 | include_directories(
13 |   ${catkin_INCLUDE_DIRS}
14 |   ${PROJECT_SOURCE_DIR}/include
15 |   ${PROJECT_SOURCE_DIR}/src
16 | )
17 | 
18 | catkin_package(
19 |   CATKIN_DEPENDS roscpp std_msgs message_generation message_runtime
20 | )
21 | 
22 | add_executable(udp_node
23 |   ${PROJECT_SOURCE_DIR}/src/udp_node.cpp
24 | )
25 | 
26 | add_executable(udp_pub_node
27 |   ${PROJECT_SOURCE_DIR}/src/udp_publisher.cpp
28 | )
29 | 
30 | target_link_libraries(udp_node
31 |   ${catkin_LIBRARIES}
32 | )
33 | 
34 | target_link_libraries(udp_pub_node
35 |   ${catkin_LIBRARIES}
36 | )


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/include/udp_node.h:
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 1 | /******************************************************************************
 2 | *
 3 | * The MIT License (MIT)
 4 | *
 5 | * Copyright (c) 2018 Bluewhale Robot
 6 | *
 7 | * Permission is hereby granted, free of charge, to any person obtaining a copy
 8 | * of this software and associated documentation files (the "Software"), to deal
 9 | * in the Software without restriction, including without limitation the rights
10 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
11 | * copies of the Software, and to permit persons to whom the Software is
12 | * furnished to do so, subject to the following conditions:
13 | *
14 | * The above copyright notice and this permission notice shall be included in all
15 | * copies or substantial portions of the Software.
16 | *
17 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
18 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
19 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
20 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
21 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
22 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
23 | * SOFTWARE.
24 | *
25 | * Author: Randoms
26 | *******************************************************************************/
27 | 
28 | #ifndef __UDP_NODE_H_
29 | #define __UDP_NODE_H_
30 | 
31 | #include <ros/ros.h>
32 | #include <std_msgs/Int64.h>
33 | #include <std_msgs/String.h>
34 | #include <mutex>
35 | #endif


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/src/udp_publisher.cpp:
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 1 | /******************************************************************************
 2 | *
 3 | * The MIT License (MIT)
 4 | *
 5 | * Copyright (c) 2018 Bluewhale Robot
 6 | *
 7 | * Permission is hereby granted, free of charge, to any person obtaining a copy
 8 | * of this software and associated documentation files (the "Software"), to deal
 9 | * in the Software without restriction, including without limitation the rights
10 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
11 | * copies of the Software, and to permit persons to whom the Software is
12 | * furnished to do so, subject to the following conditions:
13 | *
14 | * The above copyright notice and this permission notice shall be included in all
15 | * copies or substantial portions of the Software.
16 | *
17 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
18 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
19 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
20 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
21 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
22 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
23 | * SOFTWARE.
24 | *
25 | * Author: Randoms
26 | *******************************************************************************/
27 | 
28 | #include "udp_node.h"
29 | #include <std_msgs/String.h>
30 | 
31 | int main(int argc, char **argv)
32 | {
33 |     ros::init(argc, argv, "udp_pub_node");
34 |     ros::AsyncSpinner spinner(4);
35 |     spinner.start();
36 |     ros::NodeHandle private_nh("~");
37 |     ros::Publisher test_pub = private_nh.advertise<std_msgs::String>("/chatter", 10);
38 |     while (ros::ok())
39 |     {
40 |         std_msgs::String data;
41 |         data.data = "hello";
42 |         test_pub.publish(data);
43 |         ROS_INFO_STREAM("publish: hello");
44 |         sleep(1);
45 |     }
46 | }


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/src/udp_node.cpp:
--------------------------------------------------------------------------------
 1 | /******************************************************************************
 2 | *
 3 | * The MIT License (MIT)
 4 | *
 5 | * Copyright (c) 2018 Bluewhale Robot
 6 | *
 7 | * Permission is hereby granted, free of charge, to any person obtaining a copy
 8 | * of this software and associated documentation files (the "Software"), to deal
 9 | * in the Software without restriction, including without limitation the rights
10 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
11 | * copies of the Software, and to permit persons to whom the Software is
12 | * furnished to do so, subject to the following conditions:
13 | *
14 | * The above copyright notice and this permission notice shall be included in all
15 | * copies or substantial portions of the Software.
16 | *
17 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
18 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
19 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
20 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
21 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
22 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
23 | * SOFTWARE.
24 | *
25 | * Author: Randoms
26 | *******************************************************************************/
27 | 
28 | #include "udp_node.h"
29 | 
30 | void print_message(const std_msgs::String data)
31 | {
32 |     ROS_INFO_STREAM("received: " << data);
33 | }
34 | 
35 | int main(int argc, char **argv)
36 | {
37 |     ros::init(argc, argv, "udp_test_node");
38 |     ros::AsyncSpinner spinner(4);
39 |     spinner.start();
40 |     ros::NodeHandle private_nh("~");
41 |     ros::Subscriber chatter_sub = private_nh.subscribe("/chatter", 10, print_message,
42 |                                                        ros::TransportHints().unreliable().maxDatagramSize(1000));
43 |     while (ros::ok())
44 |     {
45 |         sleep(1);
46 |     }
47 | }


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