FHV_ITM_3_TurtlebotCommunication

Install:

Build the package, and do not forget the source code of the devel/setup.bash Use only one of the following: either the server or the client. The other machine should of course be running the opposite side.

Start the TCP_server

Simple: open the terminal after starting roscore and type:

$ rosrun communication TCP_Server_node

Start the TCP_Client

Open the terminal after starting roscore and type:

$ rosrun communication TCP_Client_node SERVER_IP

e.g.:

$ rosrun communication TCP_Client_node 192.168.2.115

Sending a MSG

For this purpose, the client and the server provide a service. The service is called "com_send_msg ". The msg type is SendTCPRequest it expects two int32's.

int32 action This can be -1:error, 0:approach, 1:approached.

int32 tokenNumber

Receive a MSG

The server and client automatically publish the received MSG in the topic "com_recv_msg " with the msg type SendTCPRequest.