AS: creating packages

workspace/src/joint_info/joint_info/osc_joint_states_pub.py

@@ -0,0 +1,102 @@
+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, [i for i in joint_names])
+        msg_position = oscbuildparse.OSCMessage("/joint_states/position", None, [i for i in joint_positions])
+        msg_velocity = oscbuildparse.OSCMessage("/joint_states/velocity", None, [i for i in joint_velocity])
+        msg_effort = oscbuildparse.OSCMessage("/joint_states/effort", None, [i for i in 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/src/joint_info/joint_info/osc_joint_states_sub.py

@@ -0,0 +1,41 @@
+from osc4py3.as_eventloop import *
+from osc4py3 import oscmethod as osm
+import time
+
+def joint_states_handler(address, *args):
+    """Handler function to process incoming joint states."""
+    #print([i*180/3.141 for i in args]) # for printing joint angles in degrees
+
+    if address == "/joint_states":
+        print(args[0])
+
+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_ADDRESS + 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/src/joint_info/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>joint_info</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <exec_depend>osc4py3</exec_depend>
+  
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

workspace/src/joint_info/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/joint_info
+[install]
+install_scripts=$base/lib/joint_info

workspace/src/joint_info/setup.py

@@ -0,0 +1,29 @@
+from setuptools import find_packages, setup
+
+package_name = 'joint_info'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=[
+        'setuptools'
+        'osc4py3'],
+    zip_safe=True,
+    maintainer='root',
+    maintainer_email='root@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "joint_states_pub = joint_info.osc_joint_states_pub:main",
+            "joint_states_sub = joint_info.osc_joint_states_sub:main",
+        ],
+    },
+)

workspace/src/joint_info/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

workspace/src/joint_info/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

workspace/src/joint_info/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'