python下兩臺(tái)電腦的socket通信，及將主機(jī)收到數(shù)據(jù)做ROS主題形式發(fā)布,遠(yuǎn)程電腦通過wifi訂閱發(fā)布數(shù)據(jù)

1. python下客戶端程序編寫（無ros）

vim ~/python_ex/test_tcp_client.py

#!/usr/bin/python

import time
import socket
#設(shè)置服務(wù)器ip地址，端口，buffer容量
HOST='192.168.2.4'
PORT=8008
BUFFER=4096

while 1:
    #定義socket通信類型 ipv4，tcp
    soc=socket.socket(socket.AF_INET,socket.SOCK_STREAM)
    #連接服務(wù)器
    soc.connect((HOST,PORT))
    #延時(shí)
    time.sleep(1)
    #發(fā)送消息
    soc.send('hello ros')
    #接受消息
    buf=soc.recv(BUFFER)
    打印消息
    print(buf)
    #接口關(guān)閉
    soc.close()

2. firefly主板中的服務(wù)器編寫（ros節(jié)點(diǎn)格式）

catkin_creat_pkg tcp2ros rospy roscpp std_msgs message_generation
vim ~/joey/src/tcp2ros/src/tcp2rostalker.py

#!/usr/bin/python
# -*- coding: utf-8 -*-

import time
import socket
import rospy
from std_msgs.msg import String

######################tcp begining
HOST='192.168.2.4'

PORT=8008

BUFFER=4096

sock=socket.socket(socket.AF_INET,socket.SOCK_STREAM)

sock.bind((HOST,PORT))

sock.listen(5)

################ros begining
rospy.init_node('tcptalker',anonymous=0)
pub=rospy.Publisher('tcptopic',String,queue_size=10)

print 'i am listening'

while not rospy.is_shutdown():
    con,addr=sock.accept()
    try:
        con.settimeout(5)
        buf=con.recv(BUFFER)
        pub.publish(buf)
        time.sleep(1)
    except socket.timeout:
        print 'time out'
    con.send('yes i recv')

con.close()

3. 多服務(wù)器ros配置

3.1 firefly下

vim /etc/hosts

192.168.20.133  firefly (本機(jī)ip)
192.168.20.135  LT-0079 (服務(wù)器IP)

vim ~/bashrc -->添加

export ROS_HOSTNAME=firefly
export ROS_MASTER_URI=http://LT-0079:11311
---------------------------

3.2 服務(wù)器下

vim /etc/hosts

192.168.20.133  firefly 
192.168.20.135  LT-0079 

vim ~/bashrc -->添加

export ROS_HOSTNAME=firefly
export ROS_MASTER_URI=http://LT-0079:11311

4 程序運(yùn)行

chmod +x ~/joey/src/tcp2ros/src/tcp2rostalker.py

cd ~/joey |catkin_make

• 服務(wù)器中

rosocre
rostopic echo /tcpros

• firefly中

rosrun tcp2ros tcp2rostalker.py

• 單片機(jī)客戶端中

python tcp_client.py