UniversalRobots / Universal_Robots_ROS_as_a_Service_URCap

This URCap makes a universal robot part of a ROS system by making ROS calls available inside Polyscope through the rosbridge.
Apache License 2.0
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Use one single socket connection per remote #3

Open fmauch opened 3 years ago

fmauch commented 3 years ago

Currently, each program node opens its own socket to the remote machine. While on a connection and timing perspective this isn't ideal, that saves us from matching the content received through the socket with the program nodes currently being active.

We would then have to match incoming messages to the individual program nodes.

Alternatively we could open the socket at the beginning and make the program nodes responsible for reading from the socket. The problem with that would be that there might be messages coming out from the socket not meant for that particular program node. This will get especially messy once there might be program nodes running in a separate thread.