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zeroconf_avahi_suite: zeroconf_avahi | zeroconf_avahi_demos

zeroconf_implementations: zeroconf_avahi | zeroconf_avahi_demos | zeroconf_comms | zeroconf_jmdns | zeroconf_jmdns_demos

Package Summary

Provides zeroconf services on avahi for ros systems. This is a c++ implementation.

zeroconf_avahi_suite: zeroconf_avahi | zeroconf_avahi_demos

Package Summary

Provides zeroconf services on avahi for ros systems. This is a c++ implementation.

zeroconf_avahi_suite: zeroconf_avahi | zeroconf_avahi_demos

Package Summary

Provides zeroconf services on avahi for ros systems. This is a c++ implementation.

zeroconf_avahi_suite: zeroconf_avahi | zeroconf_avahi_demos

Package Summary

Provides zeroconf services on avahi for ros systems. This is a c++ implementation.

Overview

This package provides implementations for zeroconf on top of linux's avahi-daemon. There are two implementations:

The c++ library can be manipulated directly through the Zeroconf class whereas the ros node provides similar handles through ros topics, services and parameters exposed by the.

How it Works

Both the c++ and node implementations operate on two entities, Listeners and Services.

Listeners are used to discover the appearance and disappearance of all services belong to a specific service type (e.g. _ros-master._tcp). The usual process is to add a listener and then sit back and wait for the callbacks (either c++ or ros subscription) to arrive signifying addition or removal of the specified services.

Services are zeroconf services you wish to publish on the network. They require a name, service type, port and description. If there is a name collision, this package and avahi will rename the service so that it is unique for the lifetime of the current connection.

Usage

If you're using the library, it should be relatively straightforward - simply follow the Zeroconf class documentation. There is also an example in zeroconf_avahi_demos.

Alternatively, using the ros node can be done in a variety of ways, refer to the Tutorials.

Ros API

Zeroconf Node

Provides a ros api for listening and publishing of services.

Published Topics

new_connections (zeroconf_comms/DiscoveredService) lost_connections (zeroconf_comms/DiscoveredService)

Services

add_listener (zeroconf_comms/AddListener) add_service (zeroconf_comms/AddService) remove_service (zeroconf_comms/RemoveService) list_discovered_services (zeroconf_comms/ListDiscoveredServices) list_published_services (zeroconf_comms/ListPublishedServices)

Parameters

~services (array[structs], default: [])

See the example on static configuration for an illustration of the usage of the listeners and services parameters:


2019-07-20 13:24