AS: creating packages

workspace/build/.built_by

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+colcon

workspace/build/joint_info/build/lib/joint_info/osc_joint_states_pub.py

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+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from osc4py3.as_eventloop import *
+from osc4py3 import oscbuildparse
+
+class JointStateOSC(Node):
+    def __init__(self):
+        super().__init__('joint_states_osc')
+
+        # Create a ROS 2 subscriber to /joint_states topic
+        self.subscription = self.create_subscription(
+            JointState,
+            '/joint_states',
+            self.joint_states_callback,
+            1  # Queue size
+        )
+
+        # Open Sound Control (OSC) Client settings
+        self.osc_ip = "127.0.0.1"   # Replace with the target IP
+        self.osc_port = 8000        # Replace with the target port
+
+        # Start the OSC system
+        osc_startup()
+
+        # Make client channels to send packets
+        osc_udp_client(self.osc_ip, self.osc_port, "osc_client")
+
+    def joint_states_callback(self, msg):
+        """Callback function to handle incoming joint states."""
+        header = msg.header
+        joint_names = msg.name
+        joint_positions = msg.position
+        joint_velocity = msg.velocity
+        joint_effort = msg.effort
+
+        joint_names_str = "\n- ".join(joint_names)
+        joint_positions_str = "\n- ".join(map(str, joint_positions))
+        joint_velocity_str = "\n- ".join(map(str, joint_velocity))
+        joint_effort_str = "\n- ".join(map(str, joint_effort))
+
+        info = f"""
+---
+header:
+    stamp:
+        sec: {header.stamp.sec}
+        nanosec: {header.stamp.nanosec}
+name:
+- {joint_names_str}
+position:
+- {joint_positions_str}
+velocity:
+- {joint_velocity_str}
+effort:
+- {joint_effort_str}
+---"""
+
+        # Send the info message
+        msg_info = oscbuildparse.OSCMessage("/joint_states", None, info)
+        msg_name = oscbuildparse.OSCMessage("/joint_states/name", None, type(joint_names))
+        msg_position = oscbuildparse.OSCMessage("/joint_states/position", None, type(joint_positions))
+        msg_velocity = oscbuildparse.OSCMessage("/joint_states/velocity", None, type(joint_velocity))
+        msg_effort = oscbuildparse.OSCMessage("/joint_states/effort", None, type(joint_effort))
+        
+        bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_info, msg_name, msg_position, msg_velocity, msg_effort])
+        
+        osc_send(bun, "osc_client")
+        osc_process()
+        #print(f"Publishing: {info}")
+
+
+'''
+        # Send each joint state as an OSC message
+        for i, name in enumerate(joint_names):
+            #msg_sec = oscbuildparse.OSCMessage(f"/joint_states/header/sec", None, [header.stamp.sec])
+            #msg_nanosec = oscbuildparse.OSCMessage(f"/joint_states/header/nanosec", None, [header.stamp.nanosec])
+            msg_position = oscbuildparse.OSCMessage(f"/joint_states/{name}/position", None, [joint_positions[i]])
+            msg_velocity = oscbuildparse.OSCMessage(f"/joint_states/{name}/velocity", None, [joint_velocity[i]])
+            msg_effort = oscbuildparse.OSCMessage(f"/joint_states/{name}/effort", None, [joint_effort[i]])
+
+            bun = oscbuildparse.OSCBundle(oscbuildparse.unixtime2timetag(header.stamp.sec + header.stamp.nanosec), [msg_position, msg_velocity, msg_effort])
+            #bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY , [msg_position, msg_velocity, msg_effort])
+            osc_send(bun, "osc_client")
+            osc_process()
+            #print(f"OSC bundle sent for joint {name}")
+'''
+
+def main():
+    rclpy.init()
+    node = JointStateOSC()
+    print(f"Publishing joint states to OSC on {node.osc_ip}:{node.osc_port}...")
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print("shutting down...")
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+        osc_terminate()
+
+if __name__ == '__main__':
+    main()

workspace/build/joint_info/build/lib/joint_info/osc_joint_states_sub.py

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+from osc4py3.as_eventloop import *
+from osc4py3 import oscmethod as osm
+import time
+
+def joint_states_handler(*args):
+    """Handler function to process incoming joint states."""
+    for arg in args:
+        print(arg)
+
+def main():
+    ip = "0.0.0.0"  # IP address to listen on
+    port = 8000       # Port to listen on
+
+    # Start the OSC system
+    osc_startup()
+
+    # Make server channels to receive packets
+    osc_udp_server(ip, port, "osc_server")
+
+    # Associate Python functions with message address patterns
+    osc_method("/joint_states", joint_states_handler, argscheme=osm.OSCARG_DATAUNPACK)
+
+    print(f"Listening for OSC messages on {ip}:{port}...")
+
+    try:
+        # Run the event loop
+        while True:
+            osc_process()  # Process OSC messages
+            time.sleep(0.01)  # Sleep to avoid high CPU usage
+
+    except KeyboardInterrupt:
+        print("")
+
+    finally:
+        # Properly close the system
+        osc_terminate()
+
+if __name__ == "__main__":
+    main()

workspace/build/joint_info/colcon_build.rc

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+0

workspace/build/joint_info/colcon_command_prefix_setup_py.sh

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+# generated from colcon_core/shell/template/command_prefix.sh.em

workspace/build/joint_info/colcon_command_prefix_setup_py.sh.env

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+AMENT_PREFIX_PATH=/BA/workspace/install/joint_info:/opt/ros/humble
+COLCON=1
+COLCON_PREFIX_PATH=/BA/workspace/install:/BA/ros_osc/install
+HOME=/root
+HOSTNAME=3230bc57d699
+LANG=C.UTF-8
+LC_ALL=C.UTF-8
+LD_LIBRARY_PATH=/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
+OLDPWD=/BA/workspace/src
+PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+PWD=/BA/workspace/build/joint_info
+PYTHONPATH=/BA/workspace/install/joint_info/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+ROS_DISTRO=humble
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SHLVL=1
+TERM=xterm
+_=/usr/bin/colcon
+_colcon_cd_root=/opt/ros/foxy/

workspace/build/joint_info/joint_info

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+/BA/workspace/src/joint_info/joint_info

workspace/build/joint_info/joint_info.egg-info/PKG-INFO

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+Metadata-Version: 2.1
+Name: joint-info
+Version: 0.0.0
+Summary: TODO: Package description
+Home-page: UNKNOWN
+Maintainer: root
+Maintainer-email: root@todo.todo
+License: TODO: License declaration
+Platform: UNKNOWN
+
+UNKNOWN
+

workspace/build/joint_info/joint_info.egg-info/SOURCES.txt

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+package.xml
+setup.cfg
+setup.py
+../../build/joint_info/joint_info.egg-info/PKG-INFO
+../../build/joint_info/joint_info.egg-info/SOURCES.txt
+../../build/joint_info/joint_info.egg-info/dependency_links.txt
+../../build/joint_info/joint_info.egg-info/entry_points.txt
+../../build/joint_info/joint_info.egg-info/requires.txt
+../../build/joint_info/joint_info.egg-info/top_level.txt
+../../build/joint_info/joint_info.egg-info/zip-safe
+joint_info/__init__.py
+joint_info/osc_joint_states_pub.py
+joint_info/osc_joint_states_sub.py
+joint_info.egg-info/PKG-INFO
+joint_info.egg-info/SOURCES.txt
+joint_info.egg-info/dependency_links.txt
+joint_info.egg-info/entry_points.txt
+joint_info.egg-info/requires.txt
+joint_info.egg-info/top_level.txt
+joint_info.egg-info/zip-safe
+resource/joint_info

workspace/build/joint_info/joint_info.egg-info/dependency_links.txt

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+

workspace/build/joint_info/joint_info.egg-info/entry_points.txt

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+[console_scripts]
+joint_states_pub = joint_info.osc_joint_states_pub:main
+joint_states_sub = joint_info.osc_joint_states_sub:main
+

workspace/build/joint_info/joint_info.egg-info/requires.txt

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+setuptoolsosc4py3

workspace/build/joint_info/joint_info.egg-info/top_level.txt

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+joint_info

workspace/build/joint_info/joint_info.egg-info/zip-safe

@@ -0,0 +1 @@
+

workspace/build/joint_info/package.xml

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+/BA/workspace/src/joint_info/package.xml

workspace/build/joint_info/prefix_override/sitecustomize.py

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+import sys
+if sys.prefix == '/usr':
+    sys.real_prefix = sys.prefix
+    sys.prefix = sys.exec_prefix = '/BA/workspace/install/joint_info'

workspace/build/joint_info/resource/joint_info

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+/BA/workspace/src/joint_info/resource/joint_info

workspace/build/joint_info/setup.cfg

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+/BA/workspace/src/joint_info/setup.cfg

workspace/build/joint_info/setup.py

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+/BA/workspace/src/joint_info/setup.py

workspace/build/joint_info/share/joint_info/hook/pythonpath_develop.dsv

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+prepend-non-duplicate;PYTHONPATH;/BA/workspace/build/joint_info

workspace/build/joint_info/share/joint_info/hook/pythonpath_develop.ps1

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+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\/BA/workspace/build/joint_info"

workspace/build/joint_info/share/joint_info/hook/pythonpath_develop.sh

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+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "/BA/workspace/build/joint_info"