public static NodeConfiguration createNodeConfiguration(URI master) { InetAddress listenAddress = getMyIP(master); NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(listenAddress.getHostAddress(), master); nodeConfiguration.setMasterUri(master); return nodeConfiguration; }
public static NodeConfiguration createNodeConfiguration(URI master) { InetAddress listenAddress = getMyIP(master); NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(listenAddress.getHostAddress(), master); nodeConfiguration.setMasterUri(master); return nodeConfiguration; }
/** * Create NodeConfiguration according to ROS command-line and environment * specification. */ public NodeConfiguration build() { parseRemappingArguments(); // TODO(damonkohler): Add support for starting up a private node. NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(getHost()); nodeConfiguration.setParentResolver(buildParentResolver()); nodeConfiguration.setRosRoot(getRosRoot()); nodeConfiguration.setRosPackagePath(getRosPackagePath()); nodeConfiguration.setMasterUri(getMasterUri()); if (specialRemappings.containsKey(CommandLineVariables.NODE_NAME)) { nodeConfiguration.setNodeName(specialRemappings.get(CommandLineVariables.NODE_NAME)); } return nodeConfiguration; }
/** * Creates a new {@link NodeConfiguration} for a {@link Node} that is only * accessible on the local host. * * @param masterUri * the {@link URI} for the master that the {@link Node} will register * with * @return a new {@link NodeConfiguration} for a private {@link Node} */ public static NodeConfiguration newPrivate(URI masterUri) { NodeConfiguration configuration = new NodeConfiguration(); configuration.setXmlRpcBindAddress(BindAddress.newPrivate()); configuration.setXmlRpcAdvertiseAddressFactory(new PrivateAdvertiseAddressFactory()); configuration.setTcpRosBindAddress(BindAddress.newPrivate()); configuration.setTcpRosAdvertiseAddressFactory(new PrivateAdvertiseAddressFactory()); configuration.setMasterUri(masterUri); return configuration; }
/** * Creates a new {@link NodeConfiguration} for a publicly accessible * {@link Node}. * * @param host * the host that the {@link Node} will run on * @param masterUri * the {@link URI} for the master that the {@link Node} will register * with * @return a new {@link NodeConfiguration} for a publicly accessible * {@link Node} */ public static NodeConfiguration newPublic(String host, URI masterUri) { NodeConfiguration configuration = new NodeConfiguration(); configuration.setXmlRpcBindAddress(BindAddress.newPublic()); configuration.setXmlRpcAdvertiseAddressFactory(new PublicAdvertiseAddressFactory(host)); configuration.setTcpRosBindAddress(BindAddress.newPublic()); configuration.setTcpRosAdvertiseAddressFactory(new PublicAdvertiseAddressFactory(host)); configuration.setMasterUri(masterUri); return configuration; }