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import rclpy | ||
from rclpy.node import Node | ||
from std_msgs.msg import Float64, Float64MultiArray, MultiArrayDimension, MultiArrayLayout | ||
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class F64ToMultiArray(Node): | ||
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def __init__(self): | ||
super().__init__('f64_to_multiarray') | ||
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self.subscriber = self.create_subscription( | ||
Float64, | ||
'/teleop_convert/f64', | ||
self.f64_callback, | ||
10 | ||
) | ||
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self.publisher = self.create_publisher( | ||
Float64MultiArray, | ||
'/forward_position_controller/commands', | ||
10 | ||
) | ||
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def f64_callback(self, msg): | ||
# Create the MultiArrayDimension object | ||
dim = MultiArrayDimension() | ||
dim.label = 'f64_data' | ||
dim.size = 1 | ||
dim.stride = 1 | ||
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# Create the MultiArrayLayout object | ||
layout = MultiArrayLayout() | ||
layout.dim = [dim] | ||
layout.data_offset = 0 | ||
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# Create and populate the Float64MultiArray message | ||
multiarray_msg = Float64MultiArray() | ||
multiarray_msg.layout = layout | ||
multiarray_msg.data = [msg.data] | ||
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# Publish the Float64MultiArray message | ||
self.publisher.publish(multiarray_msg) | ||
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def main(args=None): | ||
rclpy.init(args=args) | ||
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node = F64ToMultiArray() | ||
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try: | ||
rclpy.spin(node) | ||
except KeyboardInterrupt: | ||
pass | ||
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node.destroy_node() | ||
rclpy.shutdown() | ||
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if __name__ == '__main__': | ||
main() |
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<?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>f64tomulti</name> | ||
<version>0.0.0</version> | ||
<description>Converts Float64 to 1d Float64Multi</description> | ||
<maintainer email="atticusrussell@gmail.com">atticus</maintainer> | ||
<license>MIT</license> | ||
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<exec_depend>rclpy</exec_depend> | ||
<exec_depend>std_msgs</exec_depend> | ||
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<test_depend>ament_copyright</test_depend> | ||
<test_depend>ament_flake8</test_depend> | ||
<test_depend>ament_pep257</test_depend> | ||
<test_depend>python3-pytest</test_depend> | ||
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<export> | ||
<build_type>ament_python</build_type> | ||
</export> | ||
</package> |
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[develop] | ||
script_dir=$base/lib/f64tomulti | ||
[install] | ||
install_scripts=$base/lib/f64tomulti |
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from setuptools import setup | ||
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package_name = 'f64tomulti' | ||
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setup( | ||
name=package_name, | ||
version='0.0.0', | ||
packages=[package_name], | ||
data_files=[ | ||
('share/ament_index/resource_index/packages', | ||
['resource/' + package_name]), | ||
('share/' + package_name, ['package.xml']), | ||
], | ||
install_requires=['setuptools'], | ||
zip_safe=True, | ||
maintainer='atticus', | ||
maintainer_email='atticusrussell@gmail.com', | ||
description='Converts Float64 to 1d Float64Multi', | ||
license='MIT', | ||
tests_require=['pytest'], | ||
entry_points={ | ||
'console_scripts': [ | ||
'f64_to_multiarray = f64tomulti.f64_to_multiarray:main', | ||
], | ||
}, | ||
) |
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# 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. | ||
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from ament_copyright.main import main | ||
import pytest | ||
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# 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' |
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# 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. | ||
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from ament_flake8.main import main_with_errors | ||
import pytest | ||
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@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) |
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# 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. | ||
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from ament_pep257.main import main | ||
import pytest | ||
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@pytest.mark.linter | ||
@pytest.mark.pep257 | ||
def test_pep257(): | ||
rc = main(argv=['.', 'test']) | ||
assert rc == 0, 'Found code style errors / warnings' |