diff --git a/examples/log.py b/examples/log.py new file mode 100644 index 0000000..15dc442 --- /dev/null +++ b/examples/log.py @@ -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) + diff --git a/examples/move.py b/examples/move.py new file mode 100644 index 0000000..59336a7 --- /dev/null +++ b/examples/move.py @@ -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") + diff --git a/examples/oscpy/__init__.py b/examples/oscpy/__init__.py new file mode 100644 index 0000000..fb3dc20 --- /dev/null +++ b/examples/oscpy/__init__.py @@ -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 diff --git a/examples/state.py b/examples/state.py new file mode 100644 index 0000000..d9d5a17 --- /dev/null +++ b/examples/state.py @@ -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) + + diff --git a/examples/test.py b/examples/test.py new file mode 100644 index 0000000..72797f5 --- /dev/null +++ b/examples/test.py @@ -0,0 +1,7 @@ +from oscpy import * + + +encoded = Message("/", ["test", 0.1, 9]).encode() +new_msg = Message().decode(encoded).encode() +assert(encoded == new_msg) + diff --git a/workspace/src/osc_ros2/osc_ros2/interactive_input.py b/workspace/src/osc_ros2/osc_ros2/interactive_input.py index d32e3b0..83cb4d7 100644 --- a/workspace/src/osc_ros2/osc_ros2/interactive_input.py +++ b/workspace/src/osc_ros2/osc_ros2/interactive_input.py @@ -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: diff --git a/workspace/src/osc_ros2/osc_ros2/osc_ros2.py b/workspace/src/osc_ros2/osc_ros2/osc_ros2.py index 0c378cb..e854cf7 100644 --- a/workspace/src/osc_ros2/osc_ros2/osc_ros2.py +++ b/workspace/src/osc_ros2/osc_ros2/osc_ros2.py @@ -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]")