Split sending and receving ports

little-red-rover · Oct 27, 2024 · a953360 · a953360
1 parent c6d4eb1
commit a953360
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/little_red_rover/little_red_rover/hal.py b/little_red_rover/little_red_rover/hal.py
@@ -17,6 +17,8 @@ def __init__(self):
         self.socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
         self.socket.bind(("0.0.0.0", 8001))
 
+        self.send_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
         self.subscription = rospy.Subscriber("cmd_vel", Twist, self.cmd_vel_callback)
 
         self.joint_state_publisher = rospy.Publisher(
@@ -133,7 +135,7 @@ def cmd_vel_callback(self, msg: Twist):
         packet.cmd_vel.v = msg.linear.x
         packet.cmd_vel.w = msg.angular.z
 
-        self.socket.sendto(packet.SerializeToString(), ("192.168.4.1", 8001))
+        self.send_socket.sendto(packet.SerializeToString(), ("192.168.4.1", 8001))
 
 
 def main(args=None):