examples.custom_msgs package

Submodules

examples.custom_msgs.ros2_message_example module

A message publisher and listener for ROS 2 messages using Wrapyfi.

This script demonstrates the capability to transmit ROS 2 messages, specifically geometry_msgs/Pose and std_msgs/String, using the MiddlewareCommunicator within the Wrapyfi library. The communication follows the PUB/SUB pattern allowing message publishing and listening functionalities between processes or machines.

Demonstrations:

  • Using the ROS 2 message

  • Transmitting std_msgs/String and geometry_msgs/Pose ROS 2 messages

  • Applying the PUB/SUB pattern with channeling and mirroring

Requirements:

  • Wrapyfi: Middleware communication wrapper (refer to the Wrapyfi documentation for installation instructions)

  • ROS 2, rclpy: Used for handling and creating ROS 2 messages (refer to the Wrapyfi documentation for installation instructions)

Ensure ROS 2 is installed and the required message types are available.

Run:
# On machine 1 (or process 1): Publisher waits for keyboard input and transmits message

python3 ros2_message_example.py --mode publish

# On machine 2 (or process 2): Listener waits for message and prints the received ROS 2 messages

python3 ros2_message_example.py --mode listen

class examples.custom_msgs.ros2_message_example.Notifier[source]

Bases: MiddlewareCommunicator

send_message()[source]

Exchange ROS 2 messages over ROS 2.

examples.custom_msgs.ros2_message_example.parse_args()[source]

Parse command line arguments.

examples.custom_msgs.ros2_message_example.main(args)[source]

Main function to initiate Notify class and communication.

examples.custom_msgs.ros_message_example module

A message publisher and listener for ROS messages using Wrapyfi.

This script demonstrates the capability to transmit ROS messages, specifically geometry_msgs/Pose and std_msgs/String, using the MiddlewareCommunicator within the Wrapyfi library. The communication follows the PUB/SUB pattern allowing message publishing and listening functionalities between processes or machines.

Demonstrations:

  • Using the ROS message

  • Transmitting std_msgs/String and geometry_msgs/Pose ROS messages

  • Applying the PUB/SUB pattern with channeling and mirroring

Requirements:

  • Wrapyfi: Middleware communication wrapper (refer to the Wrapyfi documentation for installation instructions)

  • ROS, ROSPy: Used for handling and creating ROS messages (refer to the Wrapyfi documentation for installation instructions)

Ensure ROS is installed and the required message types are available.

Run:
# On machine 1 (or process 1): Publisher waits for keyboard input and transmits message

python3 ros_message_example.py --mode publish

# On machine 2 (or process 2): Listener waits for message and prints the received ROS messages

python3 ros_message_example.py --mode listen

class examples.custom_msgs.ros_message_example.Notifier[source]

Bases: MiddlewareCommunicator

send_message()[source]

Exchange ROS messages over ROS.

examples.custom_msgs.ros_message_example.parse_args()[source]

Parse command line arguments.

examples.custom_msgs.ros_message_example.main(args)[source]

Main function to initiate Notify class and communication.

examples.custom_msgs.ros_parameter_example module

Module contents