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I recommend you look into a TCP communication. For the lab down the hall, I had to write a system that allows them to communicate from generic python code to some ROS C++ code I've written. This way, they can move the robot by just sending a command to a specific port, like "Set Speed (0.5, 0)."

The way I accomplished this is by constructing two threads, one to listen for messages and one to control the robot.

I recommend you look into a TCP communication. For the lab down the hall, I had to write a system that allows them to communicate from generic python code to some ROS C++ code I've written. This way, they can move the robot by just sending a command to a specific port, like "Set Speed (0.5, 0)."

The way I accomplished this is by constructing two threads, one to listen for messages and one to control the robot.