fix sdk get_local_ip bug in set_sta. add vrpn launch file

rmtt_driver/scripts/set_sta.py

@@ -14,13 +14,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
-import robomaster
-from robomaster import robot
+import sys,socket
+from robomaster import robot,config
 
+def get_local_ip():
+    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    s.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+    s.connect(('<broadcast>', 0))
+    return s.getsockname()[0]
 
 if __name__ == '__main__':
-
+    config.LOCAL_IP_STR = get_local_ip()
+    print(config.LOCAL_IP_STR)
     tl_drone = robot.Drone()
     tl_drone.initialize()
     version = tl_drone.get_sdk_version()
@@ -41,4 +46,4 @@
         print("Wifi configured to ssid: {0}, please switch TT to router mode".format(ssid))
         tl_drone.close()
 
-    sys.exit("Use Ctrl + C to exit")
+    sys.exit("Press Ctrl + C to exit.")

rmtt_tracker/launch/vrpn.launch

@@ -0,0 +1,25 @@
+<launch>
+
+  <arg name="server" default="localhost"/>
+
+  <node pkg="vrpn_client_ros" type="vrpn_client_node" name="vrpn_client_node" output="screen">
+    <rosparam subst_value="true">
+      server: $(arg server)
+      port: 3883
+
+      update_frequency: 100.0
+      frame_id: world
+
+      # Use the VRPN server's time, or the client's ROS time.
+      use_server_time: false
+      broadcast_tf: true
+
+      # Must either specify refresh frequency > 0.0, or a list of trackers to create
+      refresh_tracker_frequency: 1.0
+      trackers:
+      - FirstTracker
+      - SecondTracker
+    </rosparam>
+  </node>
+
+</launch>