Function main

opt_utils/apps/ros2udp_converter_objects.cpp:202–248

}

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, 4096);  //temporary  fix until we can convert to the other approach
    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);


    // 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);


    // 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;
}