UDP broadcast/receive rostf data

rostf_udp_broadcast.py

import rospy
import tf
import socket
import time

# specify host on network you wish to broadcast on
HOST = '192.168.43.36' 
PORT = 44444

server = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
server.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
# Set a timeout so the socket does not block
# indefinitely when trying to receive data.
server.settimeout(0.2)
server.bind((HOST, PORT))

def main(args):
    rospy.init_node('pose_tf_to_udp_broadcast')
    print('node init')

    listener = tf.TransformListener()
    rate = rospy.Rate(10.0)
    while not rospy.is_shutdown():
        try:
            rospy.loginfo("Sending messages ..")  
            trans, rot = listener.lookupTransform('/odom','/camera_link', rospy.Time(0))
#            print(rot)
            msg = "{},{},{},{}".format(rot[3],-1*rot[1],rot[2],-1*rot[0])
            server.sendto(msg, ('<broadcast>', 11000))
            time.sleep(0.1)
        except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException) as ex: 
            print("exception occurred")                                                              
            continue

if __name__=='__main__':
    main(sys.argv)

udp_recv.py

import socket

HOST = ''
PORT = 11000

client = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
client.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
client.bind((HOST, PORT))
while True:
    data, addr = client.recvfrom(1024)
    print("received message: %s"%data)