Sam Broadcaster 4.9 2 Download
MargaretMargaret Haaf
I am new to ROS, and I just learned some ROS tutorials. I found that in some tutorials, they refer to a node as the "publisher", such as the "image publisher" in _transport/T.... However, in other tutorials, they refer to a node as the "broadcaster", such as the "tf broadcaster" in Furthermore, the recipients of them, subscribers and listeners, are not the same either.
TF is a specific library within ROS that is used to perform transformation operations in a helpful manner. With TF you can create a frame tree, add children to an existing parent frame, add a new branch, get the relationship between frames, etc. TF has implemented it's own classes called listener and broadcaster so as not to confuse between subscriber and publisher. Under the hood, listener and broadcaster utilize the ROS subscriber and publisher model, but do not expose them to the user, instead giving other tools to be able to do what the user wants, but specifically is working within the transformation tree, which is usually exposed on the /tf and /tf_static topics.
My first question is, can the remote sensor device be a broadcaster rather than a peripheral? If I want the sensor device to also receive command from the mobile phone (to change settings on the sensor device), does it then have to be a peripheral? The sensorTag provides example codes, but communication is only one way from sensorTag to central device. Can someone point me to some resources what there is bi-directional communication between the peripheral and central?
To send data from a sensor to a phone, a broadcaster only can work very well. To get configuration information to flow from the phone to the peripheral, the best approach is to establish a connection. Bear in mind that you can disconnect the connection once the configuration is done, and go back to just broadcasting data from the sensor.
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I have got a main components which holds several different components (comms_panel, info_panel, buttons_panel).
For example if I press i button at buttons_panel, its name appears at info_panel and comms_panel.
I have thought of using the broadcaster/listener classes to keep a component informed about events in other components.
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Need your suggestion, please.My system is about client program and web service. Clients are instantiators of some events, they send message to web service, it is processed and when done- broadcasted back. What I need to do is to close web-socket connection on server side, and cleanup resources. Right now, when I shutdown jetty I can see that all broadcasters are removed only at that step. If I send 10 messages with one client I get 10 broadcasters hanging on web service. Tryed .destroy() on broadcaster, but didn't really saw it working, tried also to destroy connection on client side, but also no success.
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