Function main

opt_utils/apps/ros2udp_converter_pose.cpp:260–325

}

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, 1400);  // jb fit in an ethernet MTU
  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:

  message_filters::Subscriber<opt_msgs::SkeletonTrackArray>
      skel_track_array_sub(nh, "/tracker/skeleton_tracks", 5);
  message_filters::Subscriber<opt_msgs::StandardSkeletonTrackArray>
      standard_skel_track_array_sub(nh, "/tracker/standard_skeleton_tracks", 5);
  message_filters::Subscriber<opt_msgs::PoseRecognitionArray>
      pose_recognition_array_sub(nh, "/recognizer/poses", 5);
  // message_filters::TimeSynchronizer<opt_msgs::SkeletonTrackArray,
  //     opt_msgs::StandardSkeletonTrackArray, opt_msgs::PoseRecognitionArray>
  //     sync(skel_track_array_sub, standard_skel_track_array_sub,
  //          pose_recognition_array_sub, 5);
  // sync.registerCallback(boost::bind(&synchronizedCallback, _1, _2, _3));
  typedef message_filters::sync_policies::ApproximateTime
      <opt_msgs::SkeletonTrackArray,
      opt_msgs::StandardSkeletonTrackArray,
      opt_msgs::PoseRecognitionArray> MySyncPolicy;
  message_filters::Synchronizer<MySyncPolicy> sync_(MySyncPolicy(10),
                                                    skel_track_array_sub,
                                                    standard_skel_track_array_sub,
                                                    pose_recognition_array_sub);
  sync_.registerCallback(boost::bind(&synchronizedCallback, _1, _2, _3));




  // 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);