AIRO-1617 Private ros params (#123)

* made ros params private
* added default to ros parameter tcp_ip
* set server default address to 0.0.0.0

Author: StephanHasler

config/params.yaml

@@ -1,4 +1,9 @@
 <launch>
-    <rosparam file="$(find ros_tcp_endpoint)/config/params.yaml" command="load"/>
-    <node name="server_endpoint" pkg="ros_tcp_endpoint" type="default_server_endpoint.py" args="--wait" output="screen" respawn="true" />
-</launch>
+    <arg name="tcp_ip" default="0.0.0.0"/>
+    <arg name="tcp_port" default="10000"/>
+
+    <node name="unity_endpoint" pkg="ros_tcp_endpoint" type="default_server_endpoint.py" output="screen">
+        <param name="tcp_ip" type="string" value="$(arg tcp_ip)"/>
+        <param name="tcp_port" type="int" value="$(arg tcp_port)"/>
+    </node>
+</launch>

launch/endpoint.launch

@@ -6,10 +6,9 @@
 
 
 def main(args=None):
-    tcp_server = TcpServer("UnityEndpoint")
-
     # Start the Server Endpoint
-    rospy.init_node(tcp_server.node_name, anonymous=True)
+    rospy.init_node("unity_endpoint", anonymous=True)
+    tcp_server = TcpServer(rospy.get_name())
     tcp_server.start()
     rospy.spin()
 

src/ros_tcp_endpoint/default_server_endpoint.py

@@ -43,16 +43,16 @@ def __init__(self, node_name, buffer_size=1024, connections=10, tcp_ip=None, tcp
             connections:             Max number of queued connections. See Python Socket documentation
         """
         if tcp_ip:
-            self.loginfo("Using ROS_IP override from constructor: {}".format(tcp_ip))
+            self.loginfo("Using 'tcp_ip' override from constructor: {}".format(tcp_ip))
             self.tcp_ip = tcp_ip
         else:
-            self.tcp_ip = rospy.get_param("/ROS_IP")
+            self.tcp_ip = rospy.get_param("~tcp_ip", "0.0.0.0")
 
         if tcp_port:
-            self.loginfo("Using ROS_TCP_PORT override from constructor: {}".format(tcp_port))
+            self.loginfo("Using 'tcp_port' override from constructor: {}".format(tcp_port))
             self.tcp_port = tcp_port
         else:
-            self.tcp_port = rospy.get_param("/ROS_TCP_PORT", 10000)
+            self.tcp_port = rospy.get_param("~tcp_port", 10000)
 
         self.unity_tcp_sender = UnityTcpSender(self)