Why this package?

To transimit ros messages and other messages over udp,

because:

1. ROS doesn't support sending messages over different masters
2. We need to communicate between different robots, and we need to simulating & monitoring.

Why udp?

Because TCP protocol is not allowed to used according to RoboCup humanoid rules. So ZMQ is not

feasible is this scenario.

So we use Boost::asio.

Main usage

1. Sending localization ros msg and other useful info back to monitor, a Qt gui.
2. Sharing localization ros msg between robots.
3. Listening to GameController.

How?

Manually serialize and deserialize ros msg, and sendRos by udp socket.