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paulbovbelpaulbovbel
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Update internal components and examples (#14)
* Re-implement actions, services * Add tests * Update examples
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‎.vscode/settings.json

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{
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"python.pythonPath": "~/locus_dev/devel/share/aiorospy/venv/bin/python",
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"python.autoComplete.extraPaths": [
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"${workspaceFolder}"
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],
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"python.testing.unittestArgs": [
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"-v",
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"-s",
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"./aiorospy/tests",
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"-p",
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"test*.py"
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],
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"python.testing.pyTestEnabled": false,
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"python.testing.nosetestsEnabled": false,
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"python.testing.unittestEnabled": true
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"python.pythonPath": "~/locus_dev/devel/share/aiorospy/venv/bin/python",
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"python.autoComplete.extraPaths": [
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"${workspaceFolder}"
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],
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"python.testing.unittestArgs": [
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"-v",
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"-s",
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"./aiorospy/tests",
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"-p",
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"test*.py"
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],
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"python.testing.pyTestEnabled": false,
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"python.testing.nosetestsEnabled": false,
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"python.testing.unittestEnabled": true,
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"editor.formatOnSave": true,
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"[python]": {
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"editor.codeActionsOnSave": {
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"source.organizeImports": true
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}
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},
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}

‎README.md

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@@ -26,104 +26,34 @@ Simplifies dependency management and makes using a different version of python p
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## Examples
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Check out the scripts folder for a few `rosrun`able scripts.
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Check out the `scripts` folder for examples of topics, services, actions, and a composite node.
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### Example Publisher and Subscriber
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Take note that when using` rospy` and `asyncio` together, the following boilerplate is recommended:
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```python
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#!/usr/bin/env python3.6
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```
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import aiorospy
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import asyncio
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import rospy
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from aiorospy import AsyncSubscriber
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from std_msgs.msg import String
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sub = AsyncSubscriber('ping', String)
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pub = rospy.Publisher('ping', String, queue_size=1)
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async def send_ping():
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while True:
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pub.publish(f'Ping!')
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await asyncio.sleep(1)
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async def receive_ping():
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async for message in sub.subscribe():
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print(f'Received: {message.data}')
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if __name__ == '__main__':
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rospy.init_node('example_pubsub', disable_signals=True)
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try:
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asyncio.get_event_loop().run_until_complete(asyncio.gather(send_ping(), receive_ping())
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finally:
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rospy.signal_shutdown('Shutting down.')
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```
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### Example Service Proxy
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rospy.init_node('node_name')
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```python
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#!/usr/bin/env python3.6
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import asyncio
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import rospy
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from aiorospy import AsyncServiceProxy
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from std_srvs.srv import SetBool, SetBoolResponse
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proxy = AsyncServiceProxy('ping', SetBool)
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async def call_service():
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while True:
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response = await proxy.send(True)
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print(response.message)
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await asyncio.sleep(1)
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if __name__ == '__main__':
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rospy.init_node('example_service', disable_signals=True)
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try:
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asyncio.get_event_loop().run_until_complete(call_service())
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finally:
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rospy.signal_shutdown('Shutting down.')
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```
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loop = asyncio.get_event_loop()
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tasks = asyncio.gather(
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my_top_level_task(),
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# ...
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)
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### Example Simple Action
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# Any uncaught exceptions will cause this task to get cancelled
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aiorospy.cancel_on_exception(tasks)
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# ROS shutdown will cause this task toget cancelled
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aiorospy.cancel_on_shutdown(tasks)
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```python
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#!/usr/bin/env python3.6
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import asyncio
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import rospy
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from actionlib.msg import TwoIntsAction, TwoIntsGoal, TwoIntsResult
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from aiorospy import AsyncSimpleActionClient, AsyncSimpleActionServer
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class ExampleSimpleAction:
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def __init__(self):
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self.server = AsyncSimpleActionServer('add_two_ints', TwoIntsAction, self.execute)
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self.server.start()
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self.client = AsyncSimpleActionClient('add_two_ints', TwoIntsAction)
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async def execute(self, goal):
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await asyncio.sleep(3)
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self.server.set_succeeded(TwoIntsResult(goal.a + goal.b))
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async def send_goals(self):
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while True:
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result = await self.client.send_goal(TwoIntsGoal(1, 2))
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print(f'The result is: {result}')
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await asyncio.sleep(5)
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if __name__ == '__main__':
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rospy.init_node('example_actionlib', disable_signals=True)
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example = ExampleSimpleAction()
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try:
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asyncio.get_event_loop().run_until_complete(example.send_goals())
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finally:
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rospy.signal_shutdown('Shutting down.')
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try:
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loop.run_until_complete(tasks)
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except asyncio.CancelledError:
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pass
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```
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## How it works
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There's no desire to reimplement rospy this late in its life, so this package wraps the various rospy interfaces instead. This means that there are still underlying threads that handle TCP I/O for topics and services. But unlike `rospy`, the API is not callbacks that run in separate threads, but rather `awaitables` that run in the main thread's event loop. This is accomplished by using thread-safe intermediaries such as `asyncio.call_soon_threadsafe` and `janus.Queue`.
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Note the use of `disable_signals=True` and `rospy.signal_shutdown()` in the examples. This is necessary to give asyncio control of shutting down the event loop and application in general. Alternatively you can manually call `loop.stop()` and do cleanup yourself.
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## TODO
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- Implement the non-Simple ActionClient and ActionServer
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- Explore need for `queue_size` to be handled.

‎aiorospy/CMakeLists.txt

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set(python_test_scripts
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tests/test_action_client.py
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tests/test_action_server.py
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tests/test_service_proxy.py
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tests/test_service.py
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tests/test_subscriber.py
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)
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‎aiorospy/package.xml

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<?xml version="1.0"?>
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<?xml version="1.0" ?>
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<package format="2">
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<name>aiorospy</name>
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<version>0.0.0</version>
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<description>Asyncio wrapper around rospy I/O interfaces.</description>
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<author email="[email protected]">Andrew Blakey</author>
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<author email="[email protected]">Paul Bovbel</author>
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<maintainer email="[email protected]">Andrew Blakey</maintainer>
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<maintainer email="[email protected]">Paul Bovbel</maintainer>
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<license>MIT</license>
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<buildtool_depend>catkin</buildtool_depend>
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<exec_depend>actionlib</exec_depend>
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<exec_depend>rospy</exec_depend>
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<test_depend>catkin_virtualenv</test_depend>
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<test_depend>python3.7</test_depend>
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<test_depend>roslint</test_depend>
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<test_depend>rostest</test_depend>
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<export>
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<pip_requirements>requirements.txt</pip_requirements>
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</export>
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</package>

‎aiorospy/requirements.txt

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aiohttp==3.5.4
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aiostream==0.3.1
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aiounittest==1.2.1
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janus==0.4.0

‎aiorospy/src/aiorospy/__init__.py

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from .action import AsyncActionClient, AsyncActionServer
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from .helpers import ExceptionMonitor, cancel_on_exception, cancel_on_shutdown
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from .service import AsyncService, AsyncServiceProxy
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from .topic import AsyncSubscriber, AsyncPublisher
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from .topic import AsyncPublisher, AsyncSubscriber
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__all__ = ('AsyncSubscriber', 'AsyncService', 'AsyncServiceProxy', 'AsyncActionClient', 'AsyncActionServer')

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