OSIAdapter

About the module

OSIAdapter is used to translate MONR-data into OSI-data, and then send it over either tcp or udp for all objects used in a test. The following data is currently sent for each object:

• Object ID
• Position: x, y, z
• Velocity: x, y, z
• Acceleration, x, y, z
• Orientation: yaw

ROS parameters

The following ROS parameters can be set for OSIAdapter:

• address - IP address for client to connect to.
• port - Port for client to connect to.
• protocol - Which protocol to use, use "tcp" or "udp".
• frequency - Frequency for sending data, measured in Hz.

Examples

Example 1

Using any address on port 55555, using udp and a frequency of 50 Hz.

• address: "0.0.0.0"
• port: 55555
• protocol: "udp"
• frequency: 50

Example 2

Using localhost on port 12345, using tcp and a frequency of 100 Hz.

• address: "127.0.0.1"
• port: 12345
• protocol: "tcp"
• frequency: 100