[AN] (feat) Interface with config fully works

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Ali 2025-06-08 22:13:18 +02:00
parent 6db7143bd5
commit 4ab2ff3c3b
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7 changed files with 275 additions and 73 deletions

19
examples/log.py Normal file
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@ -0,0 +1,19 @@
import socket
from ssl import SOCK_STREAM
from oscpy import *
UDP_IP = "172.18.0.1"
UDP_PORT = 5005
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((UDP_IP, UDP_PORT))
while True:
data, addr = sock.recvfrom(10*1024)
if "#bundle" in data[:8].decode():
b = Bundle(data)
print(b)
else:
m = Message(data)
print(m)

45
examples/move.py Normal file
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@ -0,0 +1,45 @@
import socket
import time
from oscpy import *
SEND_IP = "172.18.0.2"
SEND_PORT = 8000
RECV_IP = "172.18.0.1"
RECV_PORT = 7000
pub = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sub = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
msg = Message("/joint_positions", [-1]*6).encode()
n = pub.sendto(msg, (SEND_IP, SEND_PORT))
if n > 0:
print(f"INFO: Sent {n} bytes")
time.sleep(10)
msg = Message("/tcp_coordinates", [-1]*6).encode()
n = pub.sendto(msg, (SEND_IP, SEND_PORT))
if n > 0:
print(f"INFO: Sent {n} bytes")
time.sleep(10)
sub.bind((RECV_IP, RECV_PORT))
joint_names = []
found = False
while not found:
data, addr = sub.recvfrom(5*1024)
if "#bundle" in data[:8].decode():
b = Bundle().decode(data)
for msg in b.msgs:
if "/joint_state/name" in msg.address:
joint_names = msg.args
found = True
if joint_names:
msg = Message(f"/joint_position/{joint_names[2]}", [ 0 ])
n = pub.sendto(msg.encode(), (SEND_IP, SEND_PORT))
if n > 0:
print(f"INFO: Sent {n} bytes")

138
examples/oscpy/__init__.py Normal file
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@ -0,0 +1,138 @@
import struct
from typing import final, override
OSC_TYPES = str | int | float | bool | bytes
def get_string_size(data: bytes) -> int:
n = data.find(b'\x00')
n = n + 4 - n%4
return n
def to_osc_string(s: str) -> bytes:
n = len(s)
b = struct.pack(f'{n}s{4 - n%4}x', s.encode())
return b
def to_osc_blob(b: bytes) -> bytes:
n = len(b)
b = struct.pack(f'i{4 - n%4}p', n, b)
return b
def parse_string(data: bytes) -> tuple[bytes, str]:
n = get_string_size(data)
values: tuple[bytes] = struct.unpack(f'>{n}s', data[:n])
value = values[0].split(b"\x00", 1)
return data[n:], value[0].decode()
def parse_float(data: bytes) -> tuple[bytes, float]:
values: tuple[float] = struct.unpack('>f', data[:4])
return data[4:], values[0]
def parse_int(data: bytes) -> tuple[bytes, int]:
values: tuple[int] = struct.unpack('>i', data[:4])
return data[4:], values[0]
def parse_blob(data: bytes) -> tuple[bytes, bytes]:
n_values: tuple[int] = struct.unpack('>i', data[:4])
n: int = n_values[0]
values: tuple[bytes] = struct.unpack(f'>{n}p', data[4:4+n])
return data[4+n:], values[0]
def parse_args(tt: str, data: bytes) -> list[OSC_TYPES]:
tt = tt[1:]
args: list[OSC_TYPES] = []
for c in tt:
match c:
case 's':
data, val = parse_string(data)
args.append(val)
case 'b':
data, val = parse_blob(data)
args.append(val)
case 'f':
data, val = parse_float(data)
args.append(val)
case 'i':
data, val = parse_int(data)
args.append(val)
case _:
print(f"[ERROR]: Got {c}")
return args
def encode_args(args: list[OSC_TYPES]) -> bytes:
encoded = b''
for arg in args:
match arg:
case str(): encoded += to_osc_string(arg)
case float(): encoded += struct.pack('>f', arg)
case int(): encoded += struct.pack('>i', arg)
case bytes(): encoded += to_osc_blob(arg)
return encoded
def parse_type(arg: OSC_TYPES) -> str:
match arg:
case str(): return "s"
case float(): return "f"
case int(): return "i"
case bytes(): return "b"
@final
class Message:
def __init__(self, address: str = "/", args: list[OSC_TYPES] = []):
self.address: str = address
self.type_tags = ","
for arg in args:
self.type_tags = self.type_tags + parse_type(arg)
self.args: list[OSC_TYPES] = args
def decode(self, data: bytes):
data, self.address = parse_string(data)
data, self.type_tags = parse_string(data)
self.args = parse_args(self.type_tags, data)
return self
def encode(self) -> bytes:
msg = to_osc_string(self.address)
msg += to_osc_string(self.type_tags)
msg += encode_args(self.args)
return msg
@override
def __str__(self) -> str:
return f"{self.address} [{self.type_tags}]: {self.args}"
@final
class Bundle:
def __init__(self, time_tag: float = 0.0, msgs: list[Message] = []):
self.header = "#bundle"
self.ttag = time_tag
self.msgs = msgs
def decode(self, data: bytes):
data, self.header = parse_string(data)
data[4:]
data, self.ttag = parse_float(data)
data = data[4:]
self.msgs: list[Message] = []
while len(data) > 0:
data, n = parse_int(data)
msg_data = data[:n]
data = data[n:]
self.msgs.append(Message().decode(msg_data))
return self
def encode(self) -> bytes:
bundle = to_osc_string("#bundle")
bundle += struct.pack('4xf4x', self.ttag)
for msg in self.msgs:
msg_data = msg.encode()
bundle += struct.pack('i', len(msg_data))
bundle += msg_data
return bundle
@override
def __str__(self) -> str:
out = f"{self.header} ({self.ttag}):\n"
for msg in self.msgs:
out += f" - {msg}\n"
return out

27
examples/state.py Normal file
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@ -0,0 +1,27 @@
import socket
import struct
from oscpy import *
UDP_IP = "172.18.0.1"
UDP_PORT = 7000
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((UDP_IP, UDP_PORT))
while True:
data, addr = sock.recvfrom(10*1024)
n = get_string_size(data)
[tag] = struct.unpack(f'{n}s', data[:n])
if "#bundle" in tag.decode():
b = Bundle(data)
print("Bundle:")
for msg in b.msgs:
print(" -", msg)
else:
msg = Message(data)
if msg.address == "/time":
msg.args[0] = float(msg.args[0])
print(msg)

7
examples/test.py Normal file
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@ -0,0 +1,7 @@
from oscpy import *
encoded = Message("/", ["test", 0.1, 9]).encode()
new_msg = Message().decode(encoded).encode()
assert(encoded == new_msg)

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@ -68,15 +68,15 @@ def interactive_input() -> tuple[dict[str, Any], rtb.robot]:
print('-+'*50)
print("The cost mask determines which coordinates are used for the IK.\nEach element of the cost mask corresponds to a Cartesian coordinate [x, y, z, roll, pitch, yaw].")
print("The cost mask 111000 means that the IK will only consider translation and no rotaion.")
rconf["cost_mask_string"] = input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")
cost_mask = [int(i) for i in rconf["cost_mask_string"]]
if sum(cost_mask) <= robot.n and len(cost_mask) == 6:
cost_mask_string = input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")
rconf["cost_mask"] = [int(i) for i in cost_mask_string]
if sum(rconf["cost_mask"]) <= robot.n and len(rconf["cost_mask"]) == 6:
break
else:
print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.")
except ValueError:
print("Invalid input. Please enter integers only.")
print(f"The following coordinates will be used for the IK: {[j for i,j in enumerate(['x','y','z','roll','pitch','yaw']) if cost_mask[i]==1]}")
print(f"The following coordinates will be used for the IK: {[j for i,j in enumerate(['x','y','z','roll','pitch','yaw']) if rconf['cost_mask'][i]==1]}")
break
elif use_urdf == 'n':
node = JointNameListener()
@ -140,7 +140,7 @@ def interactive_input() -> tuple[dict[str, Any], rtb.robot]:
except ValueError:
print("Invalid input. Please enter numeric values or leave blank to skip.")
robot = None
cost_mask = None
rconf["cost_mask"] = None
break
print("Invalid input. Please enter 'y' or 'n'.")
if robot:

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@ -23,27 +23,37 @@ class OSC_ROS2_interface(Node):
def __init__(self, robot, config):
super().__init__('scaled_joint_trajectory_publisher')
self.subscription = self.create_subscription(
JointState,
'/joint_states',
self.joint_states_callback,
1
)
self.subscription = self.create_subscription(
Log,
'/rosout',
self.log_callback,
100
)
# Store received joint positions
self.current_joint_positions = None
self.joint_names = joint_names
self.joint_velocity_limits = joint_velocity_limits
self.cost_mask = cost_mask
self.joint_names = config["robot"]["joint_names"]
self.joint_velocity_limits = config["robot"]["joint_velocity_limits"]
self.cost_mask = config["robot"]["cost_mask"]
self.trajectory_topic_name = config["robot"]["trajectory_topic_name"]
self.hz = config["robot"]["hz"]
self.state_ip = config["network"]["state_ip"]
self.state_port = config["network"]["state_port"]
self.log_ip = config["network"]["log_ip"]
self.log_port = config["network"]["log_port"]
self.commands_port = config["network"]["commands_port"]
float_or_none = lambda v: None if "None" in v else float(v)
self.x_limits = list(map(float_or_none, config["robot"]["x_limits"]))
self.y_limits = list(map(float_or_none, config["robot"]["y_limits"]))
self.z_limits = list(map(float_or_none, config["robot"]["z_limits"]))
self.x_limits_workspace = list(map(float_or_none, config["robot"]["x_limits_workspace"]))
self.y_limits_workspace = list(map(float_or_none, config["robot"]["y_limits_workspace"]))
self.z_limits_workspace = list(map(float_or_none, config["robot"]["z_limits_workspace"]))
self.robot = robot
self.desired = None
self.previous_desired = None
@ -56,9 +66,7 @@ class OSC_ROS2_interface(Node):
}
self.speed_scaling = 0.2
self.new = False
self.n_joints = len(joint_names)
self.n_joints = len(self.joint_names)
# ROS2 Publisher
self.publisher = self.create_publisher(
JointTrajectory,
@ -66,10 +74,9 @@ class OSC_ROS2_interface(Node):
1
)
osc_startup()
osc_udp_client(state_ip, state_port, "osc_client")
osc_udp_client(log_ip, log_port, "osc_log_client")
osc_udp_server('0.0.0.0', commands_port, "osc_server")
osc_udp_client(self.state_ip, self.state_port, "osc_client")
osc_udp_client(self.log_ip, self.log_port, "osc_log_client")
osc_udp_server('0.0.0.0', self.commands_port, "osc_server")
# Register OSC handler
osc_method("/joint_positions", self.joint_positions_handler, argscheme=osm.OSCARG_DATAUNPACK)
osc_method("/joint_position/*", self.joint_position_handler, argscheme=osm.OSCARG_ADDRESS+osm.OSCARG_DATAUNPACK)
@ -77,11 +84,10 @@ class OSC_ROS2_interface(Node):
osc_method("/joint_trajectory", self.joint_trajectory_handler, argscheme=osm.OSCARG_DATAUNPACK)
osc_method("/cartesian_trajectory", self.cartesian_trajectory_handler, argscheme=osm.OSCARG_DATAUNPACK)
osc_method("/speed_scaling", self.speed_scaling_handler, argscheme=osm.OSCARG_DATAUNPACK)
self.get_logger().info(f"Publishing joint trajectory to {self.trajectory_topic_name}")
self.get_logger().info(f'Ready to receive OSC messages on {socket.gethostbyname(socket.gethostname())}:{commands_port}')
self.get_logger().info(f'Sending joint states to {state_ip}:{state_port}')
self.get_logger().info(f'Sending log messages to {log_ip}:{log_port}')
self.get_logger().info(f'Ready to receive OSC messages on {socket.gethostbyname(socket.gethostname())}:{self.commands_port}')
self.get_logger().info(f'Sending joint states to {self.state_ip}:{self.state_port}')
self.get_logger().info(f'Sending log messages to {self.log_ip}:{self.log_port}')
self.create_timer(1/self.hz, self.update_position) # Timer to update the position
self.create_timer(3, self.reset_prev) # reset the previous desired position
@ -105,17 +111,16 @@ class OSC_ROS2_interface(Node):
def joint_trajectory_handler(self, *args):
try:
if len(args[0]) == 6:
points = [[float(j) for j in i] for i in args]
elif len(args[0]) >= 7:
points = [[float(j) for j in i[:6]] for i in args]
self.get_logger().warn("joint_trajectory_handler: Duration is not supported for joint trajectory yet. Ignoring duration.")
else:
self.get_logger().warn(f"joint_trajectory_handler: Invalid number of arguments for joint trajectory. Expected {self.n_joints} ([q0, q1, q2, ..., q{self.n_joints}]) or {self.n_joints+1} ([q0, q1, q2, ..., q{self.n_joints}, duration]), but got {len(args[0])}.")
return
self.desired = ["joint_trajectory"] + points
self.new = True
if len(args[0]) == 6:
points = [[float(j) for j in i] for i in args]
elif len(args[0]) >= 7:
points = [[float(j) for j in i[:6]] for i in args]
self.get_logger().warn("joint_trajectory_handler: Duration is not supported for joint trajectory yet. Ignoring duration.")
else:
self.get_logger().warn(f"joint_trajectory_handler: Invalid number of arguments for joint trajectory. Expected {self.n_joints} ([q0, q1, q2, ..., q{self.n_joints}]) or {self.n_joints+1} ([q0, q1, q2, ..., q{self.n_joints}, duration]), but got {len(args[0])}.")
return
self.desired = ["joint_trajectory"] + points
self.new = True
except Exception as e:
self.get_logger().fatal(f"joint_trajectory_handler: {e}")
@ -123,7 +128,6 @@ class OSC_ROS2_interface(Node):
"""Handles incoming OSC messages for joint positions."""
try:
joint_name = address.split("/")[-1]
if joint_name in self.joint_names:
if len(args) == 1:
position = float(args[0])
@ -190,7 +194,6 @@ class OSC_ROS2_interface(Node):
self.get_logger().warn(f"joint_position_handler: Joint '{joint_name}' not found in the robot model.")
except Exception as e:
self.get_logger().fatal(f"joint_position_handler: {e}")
def cartesian_trajectory_handler(self, *args):
"""Handles incoming OSC messages for cartesian trajectory."""
@ -204,7 +207,6 @@ class OSC_ROS2_interface(Node):
else:
self.get_logger().warn("cartesian_trajectory_handler: Invalid number of arguments for cartesian trajectory. Expected 6 ([x, y, z, roll, pitch, yaw]) or 7 ([x, y, z, roll, pitch, yaw, duration]), but got {len(args[0])}.")
return
self.desired = ["cartesian_trajectory"] + points
self.new = True
except Exception as e:
@ -223,7 +225,6 @@ class OSC_ROS2_interface(Node):
else:
self.get_logger().warn(f"joint_positions_handler: Invalid number of arguments for joint positions. Expected {len(self.joint_names)} ([q0, q1, q2, ... q{len(self.joint_names)}]) or {len(self.joint_names)+1} ([q0, q1, q2, ... q{len(self.joint_names)}, duration]), but got {len(args)}.")
return
# Check if joint positions exceed limits
if self.robot:
for i, position in enumerate(desired_joint_positions[:len(self.joint_names)]): # Exclude duration if present
@ -252,7 +253,6 @@ class OSC_ROS2_interface(Node):
self.get_logger().warn(
f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[1][i]}."
)
self.desired = ["joint_positions"] + desired_joint_positions
self.new = True
except Exception as e:
@ -271,7 +271,6 @@ class OSC_ROS2_interface(Node):
else:
self.get_logger().warn(f"tcp_coordinates_handler: Invalid number of arguments for TCP coordinates. Expected 6 ([x, y, z, roll, pitch, yaw]) or 7 ([x, y, z, roll, pitch, yaw, duration]), but got {len(args)}.")
return
if self.x_limits[0] is not None:
x = max(self.x_limits[0], x)
if self.x_limits[1] is not None:
@ -284,13 +283,11 @@ class OSC_ROS2_interface(Node):
z = max(self.z_limits[0], z)
if self.z_limits[1] is not None:
z = min(self.z_limits[1], z)
if x != args[0] or y != args[1] or z != args[2]:
self.get_logger().warn(
f"tcp_coordinates_handler: Desired joint positions adjusted to fit within limits: "
f"x={x}, y={y}, z={z} (original: x={args[0]}, y={args[1]}, z={args[2]})"
)
self.desired = ["tcp_coordinates", x, y, z, r, p, yaw, duration]
self.new = True
except Exception as e:
@ -299,7 +296,6 @@ class OSC_ROS2_interface(Node):
self.get_logger().warn("tcp_coordinates_handler: No robot model provided. Cannot handle TCP coordinates.")
return
def joint_states_callback(self, msg: JointState):
"""Callback function to handle incoming joint states."""
try:
@ -311,11 +307,9 @@ class OSC_ROS2_interface(Node):
self.current_joint_positions = [float(joint_position_dict[name]) for name in self.joint_names]
joint_position_dict = dict(zip(msg.name, msg.velocity))
self.current_joint_velocities = [float(joint_position_dict[name]) for name in self.joint_names]
if self.robot:
tcp_position = self.robot.fkine(self.current_joint_positions).t
tcp_orientation = self.robot.fkine(self.current_joint_positions).rpy()
msg_tcp = oscbuildparse.OSCMessage("/tcp_coordinates", ',ffffff', [tcp_position[0], tcp_position[1], tcp_position[2], tcp_orientation[0], tcp_orientation[1], tcp_orientation[2]])
#msg_x = oscbuildparse.OSCMessage(f"/tcp_coordinates/x", ',f', [tcp_position[0]])
#msg_y = oscbuildparse.OSCMessage(f"/tcp_coordinates/y", ',f', [tcp_position[1]])
@ -326,21 +320,18 @@ class OSC_ROS2_interface(Node):
#bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_tcp, msg_x, msg_y, msg_z, msg_roll, msg_pitch, msg_yaw])
#osc_send(bun, "osc_client")
osc_send(msg_tcp, "osc_client")
msg_position = oscbuildparse.OSCMessage("/joint_state/position", f',{"f"*self.n_joints}', [i for i in msg.position])
msg_velocity = oscbuildparse.OSCMessage("/joint_state/velocity", f',{"f"*self.n_joints}', [i for i in msg.velocity])
msg_effort = oscbuildparse.OSCMessage("/joint_state/effort", f',{"f"*self.n_joints}', [i for i in msg.effort])
msg_name = oscbuildparse.OSCMessage("/joint_state/name", f',{"s"*self.n_joints}', [i for i in msg.name])
bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_name, msg_position, msg_velocity, msg_effort])
osc_send(bun, "osc_client")
#for i, name in enumerate(msg.name):
# msg_position = oscbuildparse.OSCMessage(f"/joint_state/position/{name}", ',f', [msg.position[i]])
# msg_velocity = oscbuildparse.OSCMessage(f"/joint_state/velocity/{name}", ',f', [msg.velocity[i]])
# msg_effort = oscbuildparse.OSCMessage(f"/joint_state/effort/{name}", ',f', [msg.effort[i]])
# bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_position, msg_velocity, msg_effort])
# osc_send(bun, "osc_client")
except Exception as e:
self.get_logger().fatal(f"joint_states_callback: {e}")
@ -385,21 +376,17 @@ class OSC_ROS2_interface(Node):
return
def trapezoidal_timestamps(self, num_points,total_duration, flat_ratio = 0.3):
if num_points == 2:
return [0, total_duration]
n = int(num_points*(1-flat_ratio)/2)
start = np.cos(np.linspace(0, np.pi, n))+2
end = np.cos(np.linspace(-np.pi, 0, n))+2
flat = np.ones(num_points-2*n)
timestamps = np.concatenate((start, flat, end))
timestamps *= total_duration / timestamps.sum()
timestamps = np.cumsum(timestamps)
return timestamps.tolist()
def send_tcp_coordinates(self):
"""Send the desired TCP coordinates to the robot."""
try:
@ -460,9 +447,6 @@ class OSC_ROS2_interface(Node):
# Compose SE3 transform
cart_traj.append(sm.SE3(pos_interp) * q_interp.SE3())'''
if self.desired[-1]:
timestamps = self.trapezoidal_timestamps(steps, self.desired[-1], 0.8)
for j in range(steps):
@ -504,9 +488,6 @@ class OSC_ROS2_interface(Node):
msg.header.stamp = self.get_clock().now().to_msg()
self.publisher.publish(msg)
self.previous_desired = self.desired
else:
prev_duration = 0
'''
@ -566,7 +547,6 @@ class OSC_ROS2_interface(Node):
self.get_logger().fatal(f"send_tcp_coordinates: {e}")
def send_joint_trajectory(self):
try:
self.new = False
viapoints = np.array([i for i in self.desired[1:]])
@ -587,7 +567,6 @@ class OSC_ROS2_interface(Node):
print(f'Error in joint_angles_handler: {e}')
def send_cartesian_trajectory(self):
try:
self.new = False
viapoints = np.array([i[:6] for i in self.desired[1:]])
@ -620,7 +599,6 @@ class OSC_ROS2_interface(Node):
self.previous_desired = None
except Exception as e:
print(f'Error in joint_angles_handler: {e}')
self.previous_desired = None
def update_position(self):
@ -628,7 +606,6 @@ class OSC_ROS2_interface(Node):
try:
if self.desired is None or not(self.new):
return
if self.desired[0] == "joint_positions":
self.new = False
self.send_joint_positions()
@ -648,42 +625,31 @@ class OSC_ROS2_interface(Node):
else:
self.get_logger().warn(f"update_position: Unknown desired type '{self.desired[0]}'.")
return
except Exception as e:
self.get_logger().fatal(f'update_position: {e}')
def clean_log_string(self, s):
s = str(s)
# Remove ANSI escape sequences (e.g., \x1b[31m)
ansi_escape = re.compile(r'\x1B(?:[@-Z\\-_]|\[[0-?]*[ -/]*[@-~])')
s = ansi_escape.sub('', s)
# Replace tabs/newlines with spaces
s = s.replace('\n', ' ').replace('\r', ' ').replace('\t', ' ').replace("'", ' '). replace('"', ' ').replace('`', ' ').replace('´', ' ').replace('`', ' ').replace('', ' ').replace('', ' ').replace('', ' ').replace('', ' ').replace('´', ' ').replace('`', ' ').replace('', ' ').replace('', ' ').replace('', ' ').replace('', ' ')
# Strip leading/trailing whitespace
s = s.strip()
# Optionally enforce ASCII only (replace non-ASCII chars with '?')
s = s.encode('ascii', 'replace').decode('ascii')
return s
def log_callback(self, msg: Log):
"""Callback function to handle incoming log messages."""
# Send the log message as an OSC message
msg_log = oscbuildparse.OSCMessage(f"/log/{self.log_dict.get(msg.level, 'UNKNOWN')}", ',isss', [int(msg.level), str(msg.stamp.sec+msg.stamp.nanosec*1e-9) , str(msg.name), self.clean_log_string(msg.msg)])
osc_send(msg_log, "osc_log_client")
def main():
"""Main function to get joint names and start the ROS 2 & OSC system."""
parser = argparse.ArgumentParser(description="An interface between ROS2 and OSC for robotic arm manipulators", usage="ros2 run osc_ros2 interface [-c CONFIG.TOML]")