import time
from roslibpy import Message
from roslibpy import Topic
from compas_fab.backends import RosClient
client = RosClient()
talker = Topic(client, '/chatter', 'std_msgs/String')
def start_talking():
while client.is_connected:
talker.publish(Message({'data': 'Hello RobArch World!'}))
print('Sending message...')
time.sleep(1)
talker.unadvertise()
client.on_ready(start_talking)
client.run_forever()
print('Starting UR joint state publisher...')
print('Press CTRL+C to abort')
print(
'NOTE: if CTRL+C does not abort cleanly, set the env variable to FOR_DISABLE_CONSOLE_CTRL_HANDLER=1'
)
print('ROS Nodes status:')
client = RosClient(host=args.ros_host, port=int(args.ros_port))
print(' [ ] ROS Topics', end='\r')
joint_states_topic = roslibpy.Topic(client, '/ur_joint_states',
'sensor_msgs/JointState')
joint_states_topic.advertise()
client.on_ready(
functools.partial(joint_states_publisher,
topic=joint_states_topic,
frequency=args.frequency))
print(' [X] ROS Topics')
print('Ready!')
client.run_forever()
print('ROS Nodes status:')
print(' [ ] ROS Topics disconnection', end='\r')
joint_states_topic.unadvertise()
print(' [X] ROS Topics disconnection')
time.sleep(1)
print('Disconnected')
print('ROS Nodes status:')
print(' [ ] ROS Services', end='\r')
client = RosClient(host=args.ros_host, port=int(args.ros_port))
storage_service = roslibpy.Service(client, '/store_assembly_task',
'workshop_tum_msgs/AssemblyTask')
storage_service.advertise(storage_handler)
execute_service = roslibpy.Service(client, '/execute_assembly_task',
'workshop_tum_msgs/AssemblyTask')
execute_service.advertise(functools.partial(execution_handler, ur=ur))
print(' [X] ROS Services')
client.on_ready(
functools.partial(joint_states_received,
ur=ur,
ros=client,
frequency=args.frequency))
print('Ready!')
client.run_forever()
print('ROS Nodes status:')
print(' [ ] ROS Services disconnection', end='\r')
storage_service.unadvertise()
execute_service.unadvertise()
print(' [X] ROS Services disconnection')
time.sleep(1)
print('Disconnected')
talker = Topic(client, '/messages', 'std_msgs/String')
talker.advertise()
listener = Topic(client, '/messages', 'std_msgs/String')
listener.subscribe(receive_message)
while client.is_connected:
text = get_input()
if text == 'q': break
send_message(talker, text)
client.terminate()
def receive_message(message):
data = json.loads(message['data'])
if data['name'] != name:
print('\r[{}]: {}\r'.format(
data['name'],
data['text'].ljust(80),
))
print('> {}'.format(get_current_buffer()), end='', flush=True)
def send_message(talker, message):
talker.publish({'data': json.dumps(dict(text=message, name=name))})
client.on_ready(start_chat)
client.run_forever()
import time
from roslibpy import Message
from roslibpy import Topic
from compas_fab.backends import RosClient
client = RosClient()
listener = Topic(client, '/chatter', 'std_msgs/String')
def start_listening():
listener.subscribe(receive_message)
def receive_message(message):
print('Heard talking: ' + message['data'])
client.on_ready(start_listening)
client.run_forever()
from roslibpy import Topic
from compas_fab.backends import RosClient
def receive_message(message):
print(message)
if __name__ == '__main__':
import argparse
parser = argparse.ArgumentParser(description='Joint states publisher')
parser.add_argument('-r',
'--ros-host',
help='ROS host',
default='localhost')
parser.add_argument('-p', '--ros-port', help='ROS port', default=9090)
args = parser.parse_args()
client = RosClient(host=args.ros_host, port=int(args.ros_port))
# Subscribe to joint state updates
listener = Topic(client, '/ur_joint_states', 'sensor_msgs/JointState')
listener.subscribe(receive_message)
# Start connection
client.on_ready(lambda: print('[OK] Connected to ROS: \n'))
client.run_forever()
client.terminate()