import org.ros.address.InetAddressFactory; //导入依赖的package包/类
/**
* A rosjava callback for RosActivity which gives one the opportunity to spawn
* nodes (subclasses of NodeMain).
*/
@Override
protected void init(NodeMainExecutor nodeMainExecutor)
/*************************************************************************/
{
    NodeConfiguration nodeConfiguration1 =
        NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress(),
            getMasterUri());
    nodeConfiguration1.setNodeName("ShieldTeleop/ImageView");

    NodeConfiguration nodeConfiguration2 =
            NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress(),
                    getMasterUri());
    nodeConfiguration2.setNodeName("ShieldTeleop/JoystickNode");

    //Here we start each node thread (subclass of NodeMain) which run inside an Android service
    //(i.e. basically a persistent background daemon).
    nodeMainExecutor.execute(videoStreamView_, nodeConfiguration1);
    nodeMainExecutor.execute(joystickHandler_, nodeConfiguration2);
}
 

import org.ros.address.InetAddressFactory; //导入依赖的package包/类
private String getHost() {
    if (m_host != null)
        return m_host;

    if (m_environment.containsKey(org.ros.EnvironmentVariables.ROS_IP)) {
        m_host = m_environment.get(org.ros.EnvironmentVariables.ROS_IP);
    } else if (m_environment.containsKey(org.ros.EnvironmentVariables.ROS_HOSTNAME)) {
        m_host = m_environment.get(org.ros.EnvironmentVariables.ROS_HOSTNAME);
    } else {
        m_host = InetAddressFactory.newLoopback().getHostAddress();
    }

    return m_host;
}
 

import org.ros.address.InetAddressFactory; //导入依赖的package包/类
@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
    nodeConfiguration.setMasterUri(getMasterUri());

    nodeMainExecutor.execute(objectDetectionClient, nodeConfiguration);

    //if found faster_rcnn service
    mCameraView.setCvCameraViewListener(this);
}
 

import org.ros.address.InetAddressFactory; //导入依赖的package包/类
private String getHost() {
  String host = InetAddressFactory.newLoopback().getHostAddress();
  if (this.specialRemappings.containsKey("__ip")) {
    host = this.specialRemappings.get("__ip");
  } else if (this.environment.containsKey("ROS_IP")) {
    host = this.environment.get("ROS_IP");
  } else if (this.environment.containsKey("ROS_HOSTNAME")) {
    host = this.environment.get("ROS_HOSTNAME");
  }

  return host;
}
 

import org.ros.address.InetAddressFactory; //导入依赖的package包/类
@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
    NodeMain node = new SimplePublisherNode();

    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
    nodeConfiguration.setMasterUri(getMasterUri());

    nodeMainExecutor.execute(node, nodeConfiguration);
}
 

import org.ros.address.InetAddressFactory; //导入依赖的package包/类
@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
    // 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.
    String host = InetAddressFactory.newNonLoopback().getHostName();
    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(host, getMasterUri());

    //Execute the location node
    locationNode = new AndroidLocationNode();
    nodeMainExecutor.execute(locationNode, nodeConfiguration);
}
 

import org.ros.address.InetAddressFactory; //导入依赖的package包/类
protected String getDefaultHostAddress() {
    return InetAddressFactory.newNonLoopback().getHostAddress();
}
 

import org.ros.address.InetAddressFactory; //导入依赖的package包/类
private String getDefaultHostAddress() {
  return InetAddressFactory.newNonLoopback().getHostAddress();
}