Use py_binding_tools

PickNikRobotics · Nov 13, 2024 · a84901b · a84901b
1 parent 391e41a
commit a84901b
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Showing 7 changed files with 11 additions and 232 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -213,7 +213,7 @@ install(DIRECTORY include/ DESTINATION include)
 # Install shared resources
 install(DIRECTORY launch    DESTINATION share/${PROJECT_NAME})
 
-ament_export_targets(export_${PROJECT_NAME} rviz_visual_tools_binding_utilsTargets HAS_LIBRARY_TARGET)
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(geometry_msgs
   shape_msgs
   rclcpp
@@ -257,33 +257,21 @@ endif()
 find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
 find_package(pybind11_vendor REQUIRED)
 find_package(pybind11 REQUIRED)
+find_package(py_binding_tools REQUIRED)
 
 ament_python_install_package(rviz_visual_tools PACKAGE_DIR python/rviz_visual_tools)
 
-add_library(rviz_visual_tools_binding_utils SHARED python/src/binding_utils.cpp)
-ament_target_dependencies(rviz_visual_tools_binding_utils rclcpp pybind11)
-target_include_directories(rviz_visual_tools_binding_utils PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/python/include>
-  $<INSTALL_INTERFACE:include/rviz_visual_tools>
-)
-
 pybind11_add_module(pyrviz_visual_tools python/src/rviz_visual_tools.cpp)
-target_link_libraries(pyrviz_visual_tools PRIVATE rviz_visual_tools rviz_visual_tools_binding_utils)
+target_link_libraries(pyrviz_visual_tools PRIVATE rviz_visual_tools py_binding_tools::py_binding_tools)
 ament_target_dependencies(pyrviz_visual_tools pybind11)
-install(
-  TARGETS
-    rviz_visual_tools_binding_utils
-  EXPORT
-    rviz_visual_tools_binding_utilsTargets
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-)
+
 install(DIRECTORY python/include/ DESTINATION include/rviz_visual_tools)
 install(TARGETS pyrviz_visual_tools
         LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}/rviz_visual_tools)
 install(PROGRAMS
   python/examples/rviz_visual_tools_demo.py
   DESTINATION lib/${PROJECT_NAME}
 )
+ament_export_dependencies(py_binding_tools)
 
 ament_package()
diff --git a/package.xml b/package.xml
@@ -38,6 +38,7 @@
   <depend>visualization_msgs</depend>
   <depend>std_msgs</depend>
   <depend>trajectory_msgs</depend>
+  <depend>py_binding_tools</depend>
 
   <build_depend>qtbase5-dev</build_depend>
   <build_depend>eigen</build_depend>

diff --git a/python/examples/rviz_visual_tools_demo.py b/python/examples/rviz_visual_tools_demo.py
@@ -6,11 +6,12 @@
 from threading import Thread
 import numpy as np
 from copy import deepcopy
+import rclcpp
 
 LOGGER = get_logger("rviz_visual_tools_demo")
 
-rvt.init()
-node = rvt.RvizVisualToolsNode("rviz_visual_tools_demo")
+rclcpp.init()
+node = rclcpp.Node("rviz_visual_tools_demo")
 visual_tools = rvt.RvizVisualTools(node, "world", "/rviz_visual_tools")
 visual_tools.load_marker_publisher(True)
 visual_tools.delete_all_markers()

diff --git a/python/include/rviz_visual_tools/binding_utils.hpp b/python/include/rviz_visual_tools/binding_utils.hpp
diff --git a/python/rviz_visual_tools/__init__.py b/python/rviz_visual_tools/__init__.py
@@ -1,9 +1,6 @@
 from rviz_visual_tools.pyrviz_visual_tools import (
-    init,
-    shutdown,
     Scales,
     Colors,
     EulerConvention,
     RvizVisualTools,
-    RvizVisualToolsNode,
 )
diff --git a/python/src/binding_utils.cpp b/python/src/binding_utils.cpp
diff --git a/python/src/rviz_visual_tools.cpp b/python/src/rviz_visual_tools.cpp
@@ -2,7 +2,7 @@
 #include <pybind11/eigen.h>
 #include <pybind11/stl.h>
 #include <rviz_visual_tools/rviz_visual_tools.hpp>
-#include <rviz_visual_tools/binding_utils.hpp>
+#include <py_binding_tools/ros_msg_typecasters.h>
 
 namespace py = pybind11;
 using py::literals::operator""_a;
@@ -11,36 +11,6 @@ namespace rviz_visual_tools
 {
 PYBIND11_MODULE(pyrviz_visual_tools, m)
 {
-  py::class_<RvizVisualToolsNode, RvizVisualToolsNode::SharedPtr>(m, "RvizVisualToolsNode")
-      .def(py::init<const std::string&>(), "node_name"_a)
-      .def("spin_all", &RvizVisualToolsNode::spin_all, "timeout_millis"_a = 0)
-      .def("start_spin_thread", &RvizVisualToolsNode::start_spin_thread)
-      .def("stop_spin_thread", &RvizVisualToolsNode::stop_spin_thread);
-
-  /**Initialize ROS 2's global context.
-   This function decorates a `rclcpp::init` invocation.
-  */
-  m.def(
-      "init",
-      [](std::vector<std::string> args) {
-        if (args.empty())
-        {
-          args = py::module::import("sys").attr("argv").cast<std::vector<std::string>>();
-        }
-        std::vector<const char*> raw_args;
-        raw_args.reserve(args.size());
-        for (const auto& arg : args)
-        {
-          raw_args.push_back(arg.c_str());
-        }
-        if (!rclcpp::ok())
-        {
-          rclcpp::init(raw_args.size(), raw_args.data());
-        }
-      },
-      py::arg("args") = std::vector<std::string>{});
-  m.def("shutdown", &rclcpp::shutdown);
-
   py::enum_<Colors>(m, "Colors")
       .value("BLACK", Colors::BLACK)
       .value("BROWN", Colors::BROWN)
@@ -83,7 +53,7 @@ PYBIND11_MODULE(pyrviz_visual_tools, m)
       .value("ZXZ", EulerConvention::ZXZ);
 
   py::class_<RvizVisualTools>(m, "RvizVisualTools")
-      .def(py::init([](const RvizVisualToolsNode::SharedPtr& node, const std::string& base_frame,
+      .def(py::init([](const rclcpp::Node::SharedPtr& node, const std::string& base_frame,
                        const std::string& marker_topic) {
         return RvizVisualTools(base_frame, marker_topic, node);
       }))