udp_proxy_generator generates ros to multicast proxies.

Generating Proxies

In order to generate a proxy follow these steps:

• Create a new package,
• Add a dependency to udp_proxy_generator,

• Include the cmake file: rosbuild_include(udp_proxy_generator udp)

• Call rosbuild_make_udpProxy() from within your cmake file.

• Add a file named relayMsgs.conf into the root directory of your package. An example is provided in the example directory.

• Compile your package.

Using Proxies

The generated proxy uses Castor to read multicast address and port from a configuration file called UdpProxy.conf. An example can be found in the package example directory.

It looks for this file in ES_ROOT/etc/hostname/, ES_ROOT/etc/ROBOT/, and ES_ROOT/etc/ in this sequence.