From 13a7ace07996cb0737b147eed0b27d61e19d7468 Mon Sep 17 00:00:00 2001
From: Vladislav Vlasuk <vladislav.vlasuk@th-koeln.de>
Date: Thu, 1 Aug 2024 14:01:19 +0200
Subject: [PATCH] comments
---
__pycache__/__init__.cpython-38.pyc | Bin 184 -> 184 bytes
src/__pycache__/m_ros2py.cpython-38.pyc | Bin 2197 -> 2197 bytes
src/m_ros2py.py | 26 ++++++++++++++++++++++--
3 files changed, 24 insertions(+), 2 deletions(-)
diff --git a/__pycache__/__init__.cpython-38.pyc b/__pycache__/__init__.cpython-38.pyc
index 3d7538e2d8a9aa388f27587dc29a1a8beee086b0..a7ac6448ad83054dd05bde0e8354a7e33eb0de7b 100644
GIT binary patch
delta 24
fcmdnNxPy^9l$V!_fq{Wxf7$AZ+=YxO6KkyjNwNl#
delta 24
fcmdnNxPy^9l$V!_fq{X+O?TBq?m|YFiM7@MK^z6I
diff --git a/src/__pycache__/m_ros2py.cpython-38.pyc b/src/__pycache__/m_ros2py.cpython-38.pyc
index fc840c243ec91fc26278ea4b38b2c36e04de74d9..a4e0e0065bb873b2a389e5d16c40133fd9a5a43f 100644
GIT binary patch
delta 27
jcmbO#I8~54l$V!_fq{Wxf7$Ad+z%KTQ#QY0T*(FiU>yho
delta 27
jcmbO#I8~54l$V!_fq{X6M|;&q?gxyFE}P#lu4DrMQMd-<
diff --git a/src/m_ros2py.py b/src/m_ros2py.py
index 44c223e..4a854b7 100755
--- a/src/m_ros2py.py
+++ b/src/m_ros2py.py
@@ -1,6 +1,14 @@
+#______________________________________________________________________________________________________________________________________________
+#Author: VV
+#Description: Class to simplify the creation of ros2 nodes
+#Date: 01.08.24
+#______________________________________________________________________________________________________________________________________________
+#imports
from rclpy.node import Node
from std_msgs.msg import *
+#______________________________________________________________________________________________________________________________________________
+#wrapper for creating ros2 node as publisher, subscriber, clients, service
class ros2node(Node):
def __init__(self, nodeName):
super().__init__(nodeName)
@@ -10,22 +18,32 @@ class ros2node(Node):
self._services = {}
self._clients = {}
self.as_ClientService = False
-
+
+#______________________________________________________________________________________________________________________________________________
+#ros2 publisher
def create_publisher_with_timer(self, topicName, msgType, func, rate):
self._publishers[topicName] = self.create_publisher(msgType, topicName, 10)
self._timers[topicName] = self.create_timer(rate, lambda: self.timer_callback(topicName, func))
+#______________________________________________________________________________________________________________________________________________
+#ros2 subscriber
def create_subscriber(self, topicName, msgType, func):
self._subscribers[topicName] = self.create_subscription(msgType, topicName, func, 10)
+#______________________________________________________________________________________________________________________________________________
+#ros2 service
def create_new_service(self, topicName, msgType, func):
self._services[topicName] = self.create_service(msgType, topicName, func)
self.as_ClientService = True
+#______________________________________________________________________________________________________________________________________________
+#ros2 client
def create_new_client(self, topicName, msgType):
self._clients[topicName] = self.create_client(msgType, topicName)
self.as_ClientService = True
-
+#______________________________________________________________________________________________________________________________________________
+#external executable callback function
+
def timer_callback(self, topicName, func):
if not self.as_ClientService:
publisher = self._publishers.get(topicName)
@@ -35,6 +53,10 @@ class ros2node(Node):
# self.get_logger().info(f'Publishing: "{msg.data}" on topic: "{topicName}"')
else:
self.get_logger().info(f'No publisher found for topic: "{topicName}"')
+#______________________________________________________________________________________________________________________________________________
+#getter
def get_client(self, topicName):
return self._clients.get(topicName)
+#______________________________________________________________________________________________________________________________________________
+#setter
\ No newline at end of file
--
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