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Merge pull request RoboStack#4 from ihuicatl/ros2_pr124
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Jupyter ROS2 - PR124 Improvements
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@ldania
ldania committed Aug 29, 2022
2 parents e3693a8 + 95d2ce0 commit d412aa0
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Showing 3 changed files with 71 additions and 154 deletions.
1 change: 0 additions & 1 deletion jupyros/__init__.py
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Expand Up @@ -8,7 +8,6 @@

from ._version import __version__
import os
import rclpy

try:
ros_version = os.environ['ROS_VERSION']
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96 changes: 38 additions & 58 deletions jupyros/ros2/key_input.py
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Expand Up @@ -10,33 +10,28 @@
"""

import sys
sys.path.append("./../jupyter-ros")
import jupyros.ros2 as jr2
from ipywidgets import Output
from ipycanvas import Canvas
import rclpy
from time import time


## Method to receive keyboard input commands and send a String message to a Subcriber
## It is recommended to use a secondary node to translate your String message to an appropiate msg type
# Method to receive keyboard input commands and send a String message to a Subscriber
# It is recommended to use a secondary node to translate your String message to an appropriate msg type


class key_input:
class KeyInput:

#Initiate values
def __init__(self, node, msg_type, topic, key_bindings = None):
# Set default Window size and colors
# Initiate values
def __init__(self, node, msg_type, topic, key_bindings=None):
# Set default window size and colors
self.width = 400
self.height = 400
self.color = "blue"

## Initiate values for Ipycanvas to
self.color = "#1E3888"
self.font_color = "#E3DFFF"

# Initiate values for ipycanvas to
self.canvas = Canvas()
self.canvas.fill_style = self.color
self.canvas.fill_rect(0, 0, self.width , self.height)
self.canvas.fill_rect(0, 0, self.width, self.height)

self.out = Output()
self.msg_inst = msg_type()
Expand All @@ -45,83 +40,68 @@ def __init__(self, node, msg_type, topic, key_bindings = None):

self.print_outgoing_msg = True
self.canvas.text_align = "center"


self.key_bindings = key_bindings

self.smallest_size = min(self.width, self.height)



#Using the Ros2 Jupyros Publisher module, create
#self.key_in = jr2.Publisher(node, msg_type, topic)

# Method to change the window color
def set_color(self, color):
self.color = color


self.canvas.fill_style = self.color
self.update()

# Method to change the window width
def set_width(self, width):
self.width = width
self.smallest_size = min(self.width, self.height)
self.update()

# Method to change the window height
def set_height (self, height):
def set_height(self, height):
self.height = height


def print_outgoing(Var: bool):
self.print_outgoing_msg = Var
self.smallest_size = min(self.width, self.height)
self.update()

def update(self):
self.canvas.fill_rect(0, 0, self.width , self.height)

def print_outgoing(self, var: bool):
self.print_outgoing_msg = var


def update(self):
self.canvas.clear()
self.canvas.fill_rect(0, 0, self.width, self.height)

# method to display the screen and to receive keyboard inputs
def display(self):
# Method to display the screen and to receive keyboard inputs
def display_inputs(self):
self.update()

@self.out.capture()
def on_keyboard_event(key, shift_key, ctrl_key, meta_key):
if (key):
if(self.print_outgoing_msg):
self.canvas.fill_rect(0, 0, self.width , self.height)
if(str(key) == "ArrowRight"):
if key:
if self.print_outgoing_msg:
self.canvas.fill_rect(0, 0, self.width, self.height)
if str(key) == "ArrowRight":
print_key = "⇒"
elif(str(key) == "ArrowDown"):
elif str(key) == "ArrowDown":
print_key = "⇓"
elif(str(key) == "ArrowLeft"):
elif str(key) == "ArrowLeft":
print_key = "⇐"
elif(str(key) == "ArrowUp"):
elif str(key) == "ArrowUp":
print_key = "⇑"
else:
print_key = key

if(len(str(print_key))>2):
if len(str(print_key)) > 2:
factor = 5.5
else:
factor = 3
self.canvas.fill_style = "red"

self.canvas.fill_style = self.font_color
self.font_size = self.smallest_size/factor
self.canvas.font = "{}px sans-serif".format(self.font_size)
self.canvas.fill_text(print_key,self.width/2, self.height/2+self.font_size/3)
self.canvas.fill_style = "blue"
self.canvas.fill_text(print_key, self.width/2, self.height/2+self.font_size/3)
self.canvas.fill_style = self.color

self.msg_inst.data = str(key)
self.__publisher.publish(self.msg_inst)

self.canvas.on_key_down(on_keyboard_event)
display(self.canvas)
display(self.out)










128 changes: 33 additions & 95 deletions notebooks/ROS2_Keyboard_Input.ipynb
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Original file line number Diff line number Diff line change
@@ -1,39 +1,43 @@
{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# ROS2: Keyboard Inputs\n",
"---\n",
"\n",
"### Requirements\n",
"- `ros-humble-rclpy`\n"
]
},
{
"cell_type": "code",
"execution_count": 1,
"execution_count": null,
"metadata": {},
"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",
"import jupyros as jr2\n",
"from std_msgs.msg import String"
]
},
{
"cell_type": "code",
"execution_count": 2,
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"# Initialize ROS communications for a given context\n",
"if(rp.ok() == True):\n",
"if rp.ok():\n",
" print(\"Rclpy already initiated\")\n",
"else:\n",
" rp.init()\n",
" \n"
" rp.init()"
]
},
{
"cell_type": "code",
"execution_count": 3,
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
Expand All @@ -42,119 +46,53 @@
},
{
"cell_type": "code",
"execution_count": 4,
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"test_node = rp.create_node(\"test_node\")"
]
},
{
"cell_type": "code",
"execution_count": 5,
"cell_type": "markdown",
"metadata": {},
"outputs": [],
"source": [
"def cb(msg):\n",
" print(\"This is the data\", msg.data)"
"### Keyboard Input Widget"
]
},
{
"cell_type": "code",
"execution_count": 6,
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"key_send = jr2.key_input(key_node, String, '/pose_stream')"
"key_send = jr2.KeyInput(key_node, String, '/keyboard_stream')\n",
"key_send.display_inputs()"
]
},
{
"cell_type": "code",
"execution_count": 7,
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"key_send.set_height(400)\n",
"key_send.set_width(400)"
"key_send.set_height(50)\n",
"key_send.set_width(200)\n",
"key_send.set_color(\"black\")"
]
},
{
"cell_type": "code",
"execution_count": 8,
"execution_count": null,
"metadata": {},
"outputs": [
{
"data": {
"application/vnd.jupyter.widget-view+json": {
"model_id": "f5710a7174f74a3bb4388375d3d0a84f",
"version_major": 2,
"version_minor": 0
},
"text/plain": [
"Canvas()"
]
},
"metadata": {},
"output_type": "display_data"
},
{
"data": {
"application/vnd.jupyter.widget-view+json": {
"model_id": "8c79f041075144de811d02cad33c5e4f",
"version_major": 2,
"version_minor": 0
},
"text/plain": [
"Output()"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"outputs": [],
"source": [
"def cb(msg):\n",
" return msg.data\n",
"\n",
"key_send.display()\n"
]
},
{
"cell_type": "code",
"execution_count": 9,
"metadata": {},
"outputs": [
{
"data": {
"application/vnd.jupyter.widget-view+json": {
"model_id": "7cb8fbf5dc0f4188ae733724622ecd97",
"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": [
"sub = jr2.Subscriber(key_node, String, '/pose_stream', cb, print_incoming_msg=True)\n",
"sub = jr2.Subscriber(key_node, String, '/keyboard_stream', cb, print_incoming_msg=True)\n",
"sub.display()"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
Expand All @@ -173,7 +111,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.8.10"
"version": "3.9.13"
}
},
"nbformat": 4,
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