"""Small example OSC server This program listens to several addresses, and prints some information about received packets. """ from pythonosc.dispatcher import Dispatcher from pythonosc import osc_server def handler(unused_addr, args, volume): parser = argparse.ArgumentParser() parser.add_argument("--ip", default="127.0.0.1", help="The ip to listen on") parser.add_argument("--port", type=int, default=5005, help="The port to listen on") args = parser.parse_args() dispatcher = Dispatcher() dispatcher.map("/joint_states", handler) server = osc_server.ThreadingOSCUDPServer(("127.0.0.1", 8000), dispatcher) print("Serving on {}".format(server.server_address)) server.serve_forever()