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waypoint_test.py
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waypoint_test.py
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import rclpy
from rover import MinimalPublisher
import socket
def main(args=None):
HOST = '192.168.1.127' # Server IP address
PORT = 9997
server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server_socket.bind((self.HOST, self.PORT))
server_socket.listen(1)
print(f"Server listening on {self.HOST}:{self.PORT}")
self.client_socket, self.addr = self.server_socket.accept()
print(f"Connected to client: {self.addr}")
while True:
rclpy.init(args=args)
minimal_publisher = MinimalPublisher()
data = socket.recv(RECV_BUFFER).decode()
if data:
minimal_publisher.pixel_coordinates = data
rclpy.spin_once(minimal_publisher)
# Destroy the node explicitly
# (optional - otherwise it will be done automatically
# when the garbage collector destroys the node object)
minimal_publisher.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()