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openigtlink / OpenIGTLink

Free, open-source network communication library for image-guided therapy
http://openigtlink.org
BSD 3-Clause "New" or "Revised" License
102 stars 184 forks source link

ENH: added two examples programs to send a single message (igtl::Stri… #228

Closed adeguet1 closed 4 years ago

adeguet1 commented 4 years ago

…ngMessage or igtlSensorMessage) from command line with arguments for ip, port, device name and payload (feature similar to rostopic pub)

leochan2009 commented 4 years ago

In General i don't see the value of adding the string client program as there is already a stringc lient example program

adeguet1 commented 4 years ago

Regarding the reason to add yet another StringMessage client, I should probably add a bit of background information. I'm working on a library that automatically wraps our components (dVRK: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki, Phantom Omni: https://github.com/jhu-saw/sawSensablePhantom/tree/feature-crtk, UR robot, misc. force sensors, tracking devices, haptic devices, etc). The current code for this IGTL bridge library can be found at: https://github.com/jhu-saw/sawOpenIGTLink/tree/feature-crtk.

To test this code, I find it very convenient to send different strings (and using different device names) using a command line tool. For example, with a Phantom Omni I can do something like:

StringClientSend localhost 18944 arm/state_command enable
StringClientSend localhost 18944 arm/state_command home

Using ROS, this is similar to:

rostopic pub /arm/state_command ....

I can also send a force for haptic feedback using the Sensor example I added (sending 6 values for a 3D wrench):

SensorClientSend localhost 18944 arm/servo_cf 1 1 0 0 0 0

I realize that these two programs are more "tools" or "utilities" than examples. I would totally understand if you conclude that these don't belong to the OpenIGTLink code base.

leochan2009 commented 4 years ago

Hi, Thanks for explaining the background. I really appreciate your interests in the library and the contribution you made to the library. I think these are good examples of using the library. However, i do think the existing examples explained very well about the usage of the library. I appreciate your understanding of the decision of not merging the pull request.

Best, longquan