nimbro_topic_transport: updated example launch files, fixes #3

nimbro_topic_transport/doc/getting_started.md

@@ -8,7 +8,7 @@ roscores, and we will transport some topics from machineA to machineB.
 On machineA:
 
 ```bash
-roslaunch nimbro_topic_transport udp_sender.launch target:=machineB
+roslaunch nimbro_topic_transport sender.launch target:=machineB
 rostopic pub -r 1.0 /my_first_topic std_msgs/String "Hello World"
 ```
 
@@ -18,9 +18,12 @@ On machineB:
 
 ```bash
 roslaunch nimbro_topic_transport udp_receiver.launch
-rostopic echo /my_first_topic
+rostopic echo /recv/my_first_topic
 ```
 
-You should see the `Hello World` messages arriving.
+You should see the `Hello World` messages arriving. Note that the topics
+are remapped to a /recv/ prefix, since the topics would conflict if you were
+to run both sender and receiver on the same roscore. In an usual application,
+this would not be necessary.
 
 For customization, you should copy the launch files into your own package.

nimbro_topic_transport/launch/udp_receiver.launch → nimbro_topic_transport/launch/receiver.launch

@@ -1,12 +1,12 @@
 <launch>
 	<!--
-	  This launch file runs a udp_receiver node, which receives topics
+	  This launch file runs a receiver node, which receives topics
 	  over the network on port 17001 and publishes them on the local roscore.
 
 	  See udp_sender.launch for the sender part.
 	-->
 
-	<node name="udp_receiver" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+	<node name="receiver" pkg="nimbro_topic_transport" type="receiver" output="screen">
 		<!-- The port to receive packets on -->
 		<param name="port" value="17001" />
 
@@ -15,5 +15,6 @@
 		 -->
 		<remap from="/my_first_topic" to="/recv/my_first_topic" />
 		<remap from="/my_second_topic" to="/recv/my_second_topic" />
+		<remap from="/tcp_topic" to="/recv/tcp_topic" />
 	</node>
 </launch>

nimbro_topic_transport/launch/udp_sender.launch → nimbro_topic_transport/launch/sender.launch

@@ -1,11 +1,12 @@
+<?xml version="1" ?>
 <launch>
 	<!--
-	  This launch file runs a udp_sender node, which sends topics from the local
+	  This launch file runs a sender node, which sends topics from the local
 	  roscore over the network on port 17001.
 
 	  By default, this launch file sends topics to your local machine for
 	  testing purposes. If you want to send to another machine, use
-	    roslaunch nimbro_topic_transport udp_sender.launch target:=other_host
+	    roslaunch nimbro_topic_transport sender.launch target:=other_host
 	  where other_host can be a host name or IP address.
 
 	  See udp_receiver.launch for the receiving part.
@@ -14,11 +15,11 @@
 	<arg name="target" default="localhost" />
 
 	<!-- The UDP sender node -->
-	<node name="udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+	<node name="sender" pkg="nimbro_topic_transport" type="sender" output="screen">
 
 		<!-- The destination host name or IP address -->
 		<param name="destination_addr" value="$(arg target)" />
-		<param name="destination_port" value="17001" />
+		<param name="port" value="17001" />
 
 		<!-- Load the list of topics from a YAML file -->
 		<rosparam command="load" file="$(find nimbro_topic_transport)/launch/topics.yaml" />

nimbro_topic_transport/launch/topics.yaml

@@ -1,5 +1,8 @@
-topics:
+udp_topics:
  - name: "/my_first_topic"
-   compress: true # enable bz2 compression
-   rate: 1.0 # rate limit at 1Hz
+   compress: true # enable zstd compression
+   rate: 2.0 # rate limit at 1Hz
  - name: "/my_second_topic"
+
+tcp_topics:
+ - name: "/tcp_topic"