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chobitsfan / mavlink-udp-proxy

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What purpose are thoese SERVER_PATH for? #2

Open lida2003 opened 2 months ago

lida2003 commented 2 months ago

Hi

I'm building a similar test setup. This small program primarily retrieves IMU data from the serial port and publishes it to /chobits/imu.

However, I don't understand what the SERVER_PATH is mainly used for?

https://github.com/chobitsfan/mavlink-udp-proxy/blob/0891e9244f02a1bd6ae9120396260c96edc439ed/my_mavlink_udp.cpp#L25-L26

chobitsfan commented 2 months ago

it is used for IPC

lida2003 commented 2 months ago

Which program is communicating through IPC? I didn't find the configuration in VINS-Mono.

lida2003 commented 2 months ago

https://github.com/chobitsfan/ego-planner/blob/8437b2e10e2b842be23a63ea8a7b1412a4b44820/src/planner/plan_manage/src/traj_server.cpp#L17-L18

a) I found SERVER_PATH2 "/tmp/chobits_server2", but I can't find SERVER_PATH "/tmp/chobits_server" in ego-planner.

b) "/tmp/chobits_server" is used for pos data; "/tmp/chobits_server2" is used for mav_sysid. From ego-planner, "/tmp/chobits_1236" is used for pos data. So I'm confused here.

Any tips?

lida2003 commented 1 month ago

It seems that "/tmp/chobits_server2" might be used for triggering predefined destination.

https://github.com/chobitsfan/vl53l5cx_test/blob/18071f59ba10ead67962fde4886d27ceedaf837c/ranging_basic.c#L88-L89

https://github.com/chobitsfan/vl53l5cx_test/blob/18071f59ba10ead67962fde4886d27ceedaf837c/ranging_basic.c#L216-L220