# ros2TCP
Creating a bridge between ROS 2 and TCP Socket
## USAGE
Given example for using the library is given below.
### Creating TCP Socket
----
```python
# Import TCP Socket
from ros2tcp.TCPsocket import TCPSocketServer
# Create socket instance.
server = TCPSocketServer()
# Set 'HOST' name and 'PORT'
server.HOST = 'localhost'
server.PORT = 2040
```
### Creating ROS service client
----
```python
# Import required service type
from ros2tcp.plugins import register_callback, register_service, register_plugin
from std_srvs.srv import SetBool
# Create service request
request = SetBool.Request()
request.data = True
# Register service client
srv_1 = register_service(
n_name='test_node_1',
s_type=SetBool,
s_name='test_service',
req=request
)
srv_2 = register_service(
n_name='test_node_2',
s_type=SetBool,
s_name='test_service',
req=request
)
# Register callback when response received from the server
@register_callback
def my_callback_1(data):
# 'data' argument is the response received from the ros service.
# The data returned here will be send back to the socket client who requested this service.
return data.message
@register_callback
def my_callback_2(_):
# The data returned here will be send back to the socket client who requested this service.
return 'done'
# Now map these service client to the plc request.
server.operations = register_plugin(
srv=srv_1,
cb=my_callback_1,
key=1 # Whenever socket client sends '1', the 'srv_1' get called.
)
server.operations = register_plugin(
srv=srv_2,
cb=my_callback_1,
key=1 # Whenever socket client sends '3', the 'srv_2' get called.
)
# NOTE: Currently key should be an integer.
```
### Running the Socket
----
```python
# import server runner
from ros2tcp.plugins import run_server
# Pass the created socket
run_server(socket=server)
```
Raw data
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"description": "# ros2TCP\nCreating a bridge between ROS 2 and TCP Socket\n\n## USAGE\nGiven example for using the library is given below.\n\n### Creating TCP Socket\n----\n\n```python\n# Import TCP Socket\nfrom ros2tcp.TCPsocket import TCPSocketServer\n\n# Create socket instance.\nserver = TCPSocketServer()\n\n# Set 'HOST' name and 'PORT'\nserver.HOST = 'localhost'\nserver.PORT = 2040\n```\n\n### Creating ROS service client\n----\n\n```python\n# Import required service type\nfrom ros2tcp.plugins import register_callback, register_service, register_plugin\nfrom std_srvs.srv import SetBool\n\n# Create service request\nrequest = SetBool.Request()\nrequest.data = True\n\n# Register service client\nsrv_1 = register_service(\n n_name='test_node_1',\n s_type=SetBool,\n s_name='test_service',\n req=request\n)\n\nsrv_2 = register_service(\n n_name='test_node_2',\n s_type=SetBool,\n s_name='test_service',\n req=request\n)\n\n# Register callback when response received from the server\n@register_callback\ndef my_callback_1(data):\n # 'data' argument is the response received from the ros service.\n # The data returned here will be send back to the socket client who requested this service.\n return data.message\n\n@register_callback\ndef my_callback_2(_):\n # The data returned here will be send back to the socket client who requested this service.\n return 'done'\n\n# Now map these service client to the plc request.\nserver.operations = register_plugin(\n srv=srv_1,\n cb=my_callback_1,\n key=1 # Whenever socket client sends '1', the 'srv_1' get called.\n)\n\nserver.operations = register_plugin(\n srv=srv_2,\n cb=my_callback_1,\n key=1 # Whenever socket client sends '3', the 'srv_2' get called.\n)\n\n# NOTE: Currently key should be an integer.\n```\n\n### Running the Socket\n----\n\n```python\n# import server runner\nfrom ros2tcp.plugins import run_server\n\n# Pass the created socket\nrun_server(socket=server)\n```\n",
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