ros下socket编程示例
服务器端
#include <ros/ros.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#define PORT 8080
#define LOG 1
using namespace std;
int main (int argc, char** argv)
{
ros::init(argc, argv, "server_node");
ros::NodeHandle nh;
int listenfd, connectfd;
struct sockaddr_in sever;
struct sockaddr_in client;
socklen_t addrlen;
listenfd = socket(AF_INET, SOCK_STREAM, 0);
if(listenfd == -1)
{
printf("socket() error\n");
return -1;
}
memset((void *)&sever,0,sizeof(sever));
sever.sin_family = AF_INET;
sever.sin_addr.s_addr = htonl(INADDR_ANY);
sever.sin_port = htons(PORT);
if(bind(listenfd,(struct sockaddr *)&sever,sizeof(sever)) < 0)
{
printf("bind() error\n");
return -1;
}
if(listen(listenfd, LOG) < 0)
{
printf("listen() error.\n");
return -1;
}
addrlen = sizeof(client);
while(ros::ok)
{
connectfd = accept(listenfd,(struct sockaddr *)&client,&addrlen);
if(connectfd < 0)
{
printf("connect() error \n");
return -1;
}
printf("You got a connection from client's IP is %s, port is %d\n",
inet_ntoa(client.sin_addr), ntohs(client.sin_port));
send(connectfd, "hello!",8,0);
close(connectfd);
}
close(listenfd);
return 0;
}
客户端
#include <ros/ros.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <unistd.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#include <fcntl.h>
#include <sys/shm.h>
#define MYPORT 8080
#define BUF_SIZE 1024
char* SERVER_IP = "10.203.206.10";
int result = 0;
using namespace std;
int main(int argc, char **argv)
{
ros::init(argc, argv, "client_node");
ros::NodeHandle n;
char recvbuf[BUF_SIZE];
int socket_cli = socket(AF_INET, SOCK_STREAM, 0);
if(socket_cli < 0)
{
std::cout << "socket() error\n";
return -1;
}
struct sockaddr_in sev_addr;
memset(&sev_addr, 0, sizeof(sev_addr));
sev_addr.sin_family = AF_INET;
sev_addr.sin_port = htons(MYPORT);
sev_addr.sin_addr.s_addr = inet_addr(SERVER_IP);
std::cout << "connecting..." << std::endl;
if(connect(socket_cli, (struct sockaddr*) &sev_addr, sizeof(sev_addr)) < 0)
{
std::cout << "connect error" << std::endl;
return -1;
}
else
std::cout << "connected successfullly!" << std::endl;
while(ros::ok)
{
recv(socket_cli, recvbuf, sizeof(recvbuf), 0);
printf("server message: %s\n", recvbuf);
}
close(socket_cli);
return 0;
}
启动说明
- 在ROS工作空间下建立名字为tcp功能包,并将服务器代码以及客户端代码复制到对应位置
- 先启动服务器节点,再启动客户端节点
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