A ROS Catkin package with client and server nodes to communicate with other frameworks on different operating systems using TCP/IP.

Before running the package, make sure the ROS master is up and running:

$ roscore

Once the master is up, run the following commands:

For Server Node: (Replace 'port_number' by the specific port)

$ rosrun comm_tcp server_node <port_number>

To communicate with Piaget, simply run the script l-runServer.sh present in the scripts directory.

$ ./scripts/l-runServer.sh

For Client Node: (Replace 'server_address' and 'port_number' by the correct values)

$ rosrun comm_tcp client_node <server_address> <port_number>

To communicate with Piaget, simply run the script l-runClient.sh present in the scripts directory.

$ ./scripts/l-runClient.sh <server_address>

• Refactor the sockets code (in C) to a more object oriented C++ version.
• Refactor code according to C++ style guide convention.
• Follow ROS package guidelines and hopefully publish package.