Function main

opt_utils/apps/ros2udp_converter.cpp:299–348

}

int
main(int argc, char **argv)
{
  // Initialization:
  ros::init(argc, argv, "ros2udp_converter");
  ros::NodeHandle nh("~");

  // Read input parameters:
  nh.param("udp/port", udp_port, 21234);
  nh.param("udp/hostip", hostip, std::string("127.0.0.1"));
  nh.param("udp/buffer_length", udp_buffer_length, 2048);
  nh.param("json/indent_size", json_indent_size, 0);
  nh.param("json/newline", json_newline, false);
  nh.param("json/spacing", json_spacing, false);
  nh.param("json/use_tabs", json_use_tabs, false);
  nh.param("json/heartbeat_interval", heartbeat_interval, 0.25);

  facetracksflag = 0;

  // ROS subscriber:
  ros::Subscriber tracking_sub = nh.subscribe<opt_msgs::TrackArray>
      ("input_topic", 1, trackingCallback);
  ros::Subscriber alive_ids_sub = nh.subscribe<opt_msgs::IDArray>
      ("alive_ids_topic", 1, aliveIDsCallback);
  ros::Subscriber people_tracks_sub = nh.subscribe<opt_msgs::TrackArray>("people_tracks_topic", 1, peopleTracksCallback);
  ros::Subscriber people_names_sub = nh.subscribe<opt_msgs::NameArray>("people_names_topic", 1, peoplenamesCallback);

  // Initialize UDP parameters:
  char buf[0];
  udp_data.si_port_ = udp_port;      // port
  udp_data.si_retry_ = 1;
  udp_data.si_num_byte_ = udp_buffer_length; // number of bytes to write (2048 -> about 30 tracks)
  udp_data.pc_pck_ = buf;         // buffer where the message is written
  udp_data.si_timeout_ = 4;
  udp_data.sj_addr_ = Inet_AtoN(hostip.c_str());

  /// Create object for UDP messaging:
  udp_messaging = open_ptrack::opt_utils::UDPMessaging(udp_data);

  /// Create client socket:
  udp_messaging.createSocketClientUDP(&udp_data);

  // Execute callbacks:
  ros::spin();

  // Close socket:
  udp_messaging.closeSocketUDP(&udp_data);

  return 0;
}