You don't need to build both the client and server(s) on the same machine, the project will build what it can.

Client

The client is a regular mc_rtc interface that gets data through the UDP socket.

Requirements

• mc_rtc

Usage

For help on the usage of the program, simply run:

$ MCUDPControl --help

The default configuration file is ~/.config/mc_rtc/mc_rtc.yaml.

The program will look up your mc_rtc configuration for udp configuration, it's specifically looking for a UDP section as follows:

UDP:
  host: hrp4005c
  port: 4444

Those can be overriden by providing options to the program.

Server(s)

For now a single server is implemented, it's composed of two OpenRTM components:

• MCUDPSensors: reads sensors data from OpenRTM input ports and send them to the connected client

• MCUDPControl: receives control input from the network and send them through an OpenRTM output port

Requirements

• hrpsys-base