59 lines
1.4 KiB
Python
Executable File
59 lines
1.4 KiB
Python
Executable File
#!/usr/bin/env python3
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"""
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UDP → /cmd_vel bridge for keyboard control.
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Receives (float64 lin_x, float64 ang_z) from Windows client.
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Deploy on RDKx5: /home/sunrise/yiliao_ws/udp_to_cmdvel.py
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Run: python3 udp_to_cmdvel.py
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"""
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import rclpy
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from rclpy.node import Node
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from geometry_msgs.msg import Twist
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import socket
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import struct
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import sys
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class UDPToCmdVel(Node):
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def __init__(self, port=9999):
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super().__init__("udp_to_cmdvel")
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self.pub = self.create_publisher(Twist, "/cmd_vel", 10)
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self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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self.sock.bind(("0.0.0.0", port))
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self.sock.settimeout(0.1)
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self.get_logger().info("Listening on UDP port %d → /cmd_vel" % port)
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self.create_timer(0.05, self.loop)
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def loop(self):
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try:
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data, addr = self.sock.recvfrom(16)
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lin, ang = struct.unpack('dd', data)
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msg = Twist()
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msg.linear.x = lin
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msg.angular.z = ang
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self.pub.publish(msg)
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except socket.timeout:
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pass
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def destroy_node(self):
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self.sock.close()
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super().destroy_node()
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def main():
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rclpy.init()
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port = int(sys.argv[1]) if len(sys.argv) > 1 else 9999
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node = UDPToCmdVel(port=port)
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try:
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rclpy.spin(node)
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except KeyboardInterrupt:
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pass
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finally:
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node.destroy_node()
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rclpy.shutdown()
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if __name__ == "__main__":
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main()
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