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Small Changes for cleanup for next PR #143

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merged 1 commit into from
Dec 8, 2022
Merged

Small Changes for cleanup for next PR #143

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2 changes: 1 addition & 1 deletion notebooks/ROS2_Keyboard_Input.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -111,7 +111,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.9.13"
"version": "3.8.10"
}
},
"nbformat": 4,
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121 changes: 14 additions & 107 deletions notebooks/ROS2_Publisher_Subscriber.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -2,23 +2,10 @@
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"execution_count": null,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Rclpy not yet initiated\n"
]
}
],
"outputs": [],
"source": [
"## Relative pathing to the Jupyros module (jupyter-ros/jupyros), due to difficulty with with development install\n",
"## Remove at PR if Dev Install successful \n",
"import sys\n",
"sys.path.append(\"./../\")\n",
"##\n",
"import rclpy as rp\n",
"import jupyros.ros2 as jr2\n",
"from geometry_msgs.msg import Pose, Point\n",
Expand All @@ -28,7 +15,7 @@
},
{
"cell_type": "code",
"execution_count": 2,
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
Expand All @@ -41,7 +28,7 @@
},
{
"cell_type": "code",
"execution_count": 3,
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
Expand All @@ -50,45 +37,23 @@
},
{
"cell_type": "code",
"execution_count": 4,
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"# def cb(msg):\n",
"# lx = msg.linear.x\n",
"# ly = msg.linear.y \n",
"# lz = msg.linear.z\n",
"# ax = msg.angular.x \n",
"# ay = msg.angular.y \n",
"# az = msg.angular.z \n",
"# return lx, ly, lz, ax, ay, az\n",
"\n",
"def cb(msg):\n",
" print(\"this is the function\")\n"
" print(\"This function prints the msg\", msg)\n",
"\n",
"\n"
]
},
{
"cell_type": "code",
"execution_count": 5,
"execution_count": null,
"metadata": {
"scrolled": true
},
"outputs": [
{
"data": {
"application/vnd.jupyter.widget-view+json": {
"model_id": "48eee7984bd54806b49d40550bd40dad",
"version_major": 2,
"version_minor": 0
},
"text/plain": [
"VBox(children=(HBox(children=(Button(description='Start', style=ButtonStyle()), Button(description='Stop', sty…"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"outputs": [],
"source": [
"#Method 1 of subscribing and printing data\n",
"sub = jr2.Subscriber(test_node, Pose, '/Pose', cb, print_incoming_msg=True)\n",
Expand All @@ -97,82 +62,24 @@
},
{
"cell_type": "code",
"execution_count": 6,
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"#Method 2 of subscribing and printing data\n",
"#jr2.Subscriber(test_node, Pose, '/Pose', cb, print_incoming_msg=True).display()"
]
"source": []
},
{
"cell_type": "code",
"execution_count": 7,
"execution_count": null,
"metadata": {
"tags": []
},
"outputs": [
{
"data": {
"application/vnd.jupyter.widget-view+json": {
"model_id": "354392faba0340f583844e07605387f4",
"version_major": 2,
"version_minor": 0
},
"text/plain": [
"VBox(children=(Label(value='position'), HBox(children=(Label(value='x', layout=Layout(width='100px')), FloatTe…"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"outputs": [],
"source": [
"#Method 1 of publishing to node\n",
"pub = jr2.Publisher(test_node, Pose, '/Pose')\n",
"pub.display()"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": 8,
"metadata": {},
"outputs": [
{
"data": {
"application/vnd.jupyter.widget-view+json": {
"model_id": "44ef0659e85746b3b543b67940667178",
"version_major": 2,
"version_minor": 0
},
"text/plain": [
"VBox(children=(HBox(children=(Button(description='Start', style=ButtonStyle()), Button(description='Stop', sty…"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"#Method 1 of subscribing and printing data\n",
"sub = jr2.Subscriber(test_node, String, '/pose_stream', cb, print_incoming_msg=True)\n",
"sub.display()"
]
},
{
"cell_type": "code",
"execution_count": null,
Expand Down