public static NodeConfiguration createNodeConfiguration(URI master) {
InetAddress listenAddress = getMyIP(master);
NodeConfiguration nodeConfiguration =
NodeConfiguration.newPublic(listenAddress.getHostAddress(), master);
nodeConfiguration.setMasterUri(master);
return nodeConfiguration;
}
/**
* 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;
}
/**
* 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;
}
@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
// talker = new Talker("TALKING");
NodeConfiguration nodeConfiguration =
NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
// At this point, the user has already been prompted to either enter the URI
// of a master to use or to start a master locally.
nodeConfiguration.setMasterUri(getMasterUri());
// nodeMainExecutor.execute(talker, nodeConfiguration);
// The RosTextView is also a NodeMain that must be executed in order to
// start displaying incoming messages.
nodeMainExecutor.execute(rosTextView, nodeConfiguration);
}