Merge pull request #120 from dobots/master

Fixes For Ros2 Publisher

Author: hbcarlos

jupyros/ros2/__init__.py

@@ -13,6 +13,7 @@
 #from ..ros1.server_extension import *
 #from ..ros1.turtle_sim import *
 
-from ..ros2.publisher import *
 from ..ros2.ros_widgets import *
+from ..ros2.publisher import *
+
 from ..ros2.subscriber import *

jupyros/ros2/publisher.py

@@ -7,12 +7,11 @@
 Date: 19 July 2022
 
 """
-
 from typing import TypeVar
 import threading
 import time
 import ipywidgets as widgets
-from .ros_widgets import add_widgets
+from . import add_widgets
 import functools
 
 def rsetattr(obj, attr, val):
@@ -92,15 +91,14 @@ def __init__(self, node: Node, msg_type: MsgType, topic: str) -> None:
     def widget_dict_to_msg(self):
 
         """
-        Iterate over the attributes and give them per attribute
+        Iterate over the widget data and assign them per attribute
         
         
         """
         for key in self.__widget_list:
             if(key.has_trait('children')):
                 try:
                     attr_adress = ".".join([head_class, str(key.children[0].value)])
-                    print(attr_adress)
                     #rsetattr(bun,attr_adress, 0.0)
                     rsetattr(self.msg_inst, attr_adress, float(key.children[1].value))
                 except:
@@ -153,7 +151,10 @@ def __thread_target(self) -> None:
             time.sleep(d)
 
     def __start_thread(self, _) -> None:
-        self.__thread_map[self.topic] = not self.__thread_map[self.topic]
+        try:
+            self.__thread_map[self.topic] = not self.__thread_map[self.topic]
+        except:
+            self.__thread_map[self.topic] = self.node
         if self.__thread_map[self.topic]:
             local_thread = threading.Thread(target=self.__thread_target)
             local_thread.start()

notebooks/Ros2 Pub_Sub_Communication.ipynb

@@ -9,12 +9,7 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "The actionlib package is not found in your $PYTHONPATH. Action clients are not going to work.\n",
-      "Do you need to activate your ROS environment?\n",
-      "The rospy package is not found in your $PYTHONPATH. Subscribe and publish are not going to work.\n",
-      "Do you need to activate your ROS environment?\n",
-      "The actionlib package is not found in your $PYTHONPATH. Action clients are not going to work.\n",
-      "Do you need to activate your ROS environment?\n"
+      "ROS2 foxy environment detected.\n"
      ]
     }
    ],
@@ -71,15 +66,15 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 7,
    "metadata": {
     "scrolled": true
    },
    "outputs": [
     {
      "data": {
       "application/vnd.jupyter.widget-view+json": {
-       "model_id": "02f465aa904e4e65bf7e48c0681d5662",
+       "model_id": "534c10313702477ea44c49e430481dea",
        "version_major": 2,
        "version_minor": 0
       },
@@ -99,13 +94,13 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": 8,
    "metadata": {},
    "outputs": [
     {
      "data": {
       "application/vnd.jupyter.widget-view+json": {
-       "model_id": "eedb12e52bc647a3880710dcb1a5fc0d",
+       "model_id": "744726dbc1e64f8c8a2c69ec39ad4927",
        "version_major": 2,
        "version_minor": 0
       },
@@ -124,13 +119,13 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 9,
    "metadata": {},
    "outputs": [
     {
      "data": {
       "application/vnd.jupyter.widget-view+json": {
-       "model_id": "f8055553ab1d4f8da77339b36ad3341a",
+       "model_id": "ef44af737162481f822d1f15fbd675cf",
        "version_major": 2,
        "version_minor": 0
       },
@@ -147,6 +142,13 @@
     "pub = jr2.Publisher(test_node, Pose, '/data')\n",
     "pub.display()"
    ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
   }
  ],
  "metadata": {