def connect_to_ros(doctest_namespace):
client = RosClient()
client.run()
robot = Robot(client)
doctest_namespace["client"] = client
doctest_namespace["robot"] = robot
yield
client.close()
# Copy & Paste this exercise into a Grasshopper component
# And add a `subscribe` input connected to a button
import Rhino
import scriptcontext as sc
import roslibpy
from compas_fab.backends import RosClient
from compas_fab.backends.ros.messages.shape_msgs import Mesh
from compas_ghpython.artists import MeshArtist
if subscribe:
def receive_mesh(message):
mesh_message = Mesh.from_msg(message)
artist = MeshArtist(mesh_message.mesh)
sc.doc = Rhino.RhinoDoc.ActiveDoc
sc.doc.Objects.AddMesh(artist.draw())
sc.doc = ghdoc
client = RosClient()
client.run()
topic = roslibpy.Topic(client, '/meshes', 'shape_msgs/Mesh')
topic.subscribe(receive_mesh)