[ROS 2]: Add Python bindings

CMakeLists.txt

@@ -231,12 +231,6 @@ ament_export_dependencies(geometry_msgs
   rviz_ogre_vendor
 )
 ament_export_include_directories(include)
-ament_export_libraries(
-  ${PROJECT_NAME}
-  ${PROJECT_NAME}_remote_control
-  ${PROJECT_NAME}_imarker_simple
-  ${PROJECT_NAME}_gui
-)
 
 ##########
 ## TEST ##
@@ -256,4 +250,28 @@ if (BUILD_TESTING)
   )
 endif()
 
+####################
+## Python binding ##
+####################
+
+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)
+
+pybind11_add_module(pyrviz_visual_tools python/src/rviz_visual_tools.cpp)
+target_link_libraries(pyrviz_visual_tools PRIVATE rviz_visual_tools py_binding_tools::py_binding_tools)
+ament_target_dependencies(pyrviz_visual_tools pybind11)
+
+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()

README.md

@@ -54,7 +54,7 @@ To see random shapes generated in Rviz, first launch Rviz:
 
 Then start the RViz Visual Tools demo:
 
-    ros2 run rviz_visual_tools rviz_visual_tools_demo
+    ros2 run rviz_visual_tools rviz_visual_tools_demo # Or rviz_visual_tools_demo.py for the python version
 
 ## Code API
 

package.xml

@@ -38,9 +38,11 @@
   <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>
+  <build_depend>pybind11_vendor</build_depend>
 
   <build_export_depend>eigen</build_export_depend>
   <exec_depend>libqt5-widgets</exec_depend>

python/examples/rviz_visual_tools_demo.py

@@ -0,0 +1,145 @@
+#!/usr/bin/env python3
+
+import rviz_visual_tools as rvt
+from rclpy.logging import get_logger
+from geometry_msgs.msg import Point, Pose, Quaternion
+from threading import Thread
+import numpy as np
+from copy import deepcopy
+import rclcpp
+
+LOGGER = get_logger("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()
+visual_tools.enable_batch_publishing(True)
+
+point = Point(x=0.0, y=0.0, z=0.0)
+
+step_x = 0.1
+
+LOGGER.info("Displaying range of colors red->green")
+visual_tools.publish_text(
+    Pose(),
+    "Shpere-Color-Range",
+    rvt.Colors.WHITE,
+    rvt.Scales.XXLARGE,
+    False,
+)
+for color in (rvt.Colors.BLACK, rvt.Colors.GREY, rvt.Colors.WHITE, rvt.Colors.RED):
+    visual_tools.publish_sphere(point, scale=rvt.Scales.XLARGE, color=color)
+    point.x += step_x
+visual_tools.trigger()
+
+
+LOGGER.info("Displaying Coordinate Axis")
+visual_tools.publish_text(
+    Pose(position=Point(x=0.0, y=-0.2, z=0.0)),
+    "Coordinate-Axis",
+    rvt.Colors.WHITE,
+    rvt.Scales.XXLARGE,
+    False,
+)
+visual_tools.publish_axis(Pose(position=Point(x=0.0, y=-0.2, z=0.0)))
+visual_tools.publish_axis(
+    Pose(
+        position=Point(x=0.25, y=-0.2, z=0.0),
+        orientation=Quaternion(x=0.0, y=0.0, z=1.0, w=0.0),
+    )
+)
+visual_tools.trigger()
+
+LOGGER.info("Displaying Arrows")
+visual_tools.publish_text(
+    Pose(position=Point(x=0.0, y=-0.4, z=0.0)),
+    "Arrows",
+    rvt.Colors.WHITE,
+    rvt.Scales.XXLARGE,
+    False,
+)
+visual_tools.publish_x_arrow(
+    Pose(
+        position=Point(x=0.0, y=-0.4, z=0.0),
+        orientation=Quaternion(x=0.0, y=0.0, z=0.0, w=1.0),
+    )
+)
+visual_tools.publish_y_arrow(
+    Pose(
+        position=Point(x=0.25, y=-0.4, z=0.0),
+        orientation=Quaternion(x=0.0, y=0.0, z=0.0, w=1.0),
+    )
+)
+visual_tools.publish_z_arrow(
+    Pose(
+        position=Point(x=0.5, y=-0.4, z=0.0),
+        orientation=Quaternion(x=0.0, y=0.0, z=0.0, w=1.0),
+    )
+)
+visual_tools.trigger()
+
+cuboid_max_size = 0.075
+cuboid_min_size = 0.01
+point1 = Point(x=0.0, y=-0.6, z=0.0)
+LOGGER.info("Displaying Rectangular Cuboid")
+visual_tools.publish_text(
+    Pose(position=point1), "Cuboid", rvt.Colors.WHITE, rvt.Scales.XXLARGE, False
+)
+for i in np.linspace(0, 1.0, 10):
+    point2 = deepcopy(point1)
+    point2.x += i * cuboid_max_size + cuboid_min_size
+    point2.y += i * cuboid_max_size + cuboid_min_size
+    point2.z += i * cuboid_max_size + cuboid_min_size
+    visual_tools.publish_cuboid(point1, point2, color=rvt.Colors.RAND)
+    point1.x += step_x
+visual_tools.trigger()
+
+line_max_size = 0.075
+line_min_size = 0.01
+point1 = Point(x=0.0, y=-0.8, z=0.0)
+LOGGER.info("Displaying Lines")
+visual_tools.publish_text(
+    Pose(position=point1), "Line", rvt.Colors.WHITE, rvt.Scales.XXLARGE, False
+)
+for i in np.linspace(0, 1.0, 10):
+    point2 = deepcopy(point1)
+    point2.x += i * line_max_size + line_min_size
+    point2.y += i * line_max_size + line_min_size
+    point2.z += i * line_max_size + line_min_size
+    visual_tools.publish_line(point1, point2, color=rvt.Colors.RAND)
+    point1.x += step_x
+visual_tools.trigger()
+
+LOGGER.info("Displaying Cylinder")
+visual_tools.publish_cylinder(
+    Pose(position=Point(x=0.0, y=0.2, z=0.0)), color=rvt.Colors.RAND
+)
+visual_tools.trigger()
+
+LOGGER.info("Displaying Cone")
+visual_tools.publish_cone(
+    Pose(position=Point(x=0.0, y=0.4, z=0.0)),
+    angle=np.pi,
+    color=rvt.Colors.RAND,
+    scale=0.1,
+)
+visual_tools.trigger()
+
+LOGGER.info("Displaying Planes")
+plane_pose = Pose(position=Point(x=0.0, y=0.6, z=0.0))
+visual_tools.publish_xy_plane(plane_pose, color=rvt.Colors.RED, scale=0.1)
+visual_tools.publish_xz_plane(plane_pose, color=rvt.Colors.GREEN, scale=0.1)
+visual_tools.publish_yz_plane(plane_pose, color=rvt.Colors.BLUE, scale=0.1)
+visual_tools.trigger()
+
+LOGGER.info("Displaying Labeled Coordinate Axis")
+visual_tools.publish_axis_labeled(Pose(position=Point(x=0.0, y=0.8, z=0.0)), "MyAxis")
+visual_tools.trigger()
+
+LOGGER.info("Displaying Path")
+visual_tools.publish_path(
+    [Point(x=0.0, y=1.0, z=0.0), Point(x=0.2, y=1.0, z=0.0), Point(x=0.4, y=1.1, z=0.0)]
+)
+visual_tools.trigger()

python/rviz_visual_tools/__init__.py

@@ -0,0 +1,6 @@
+from rviz_visual_tools.pyrviz_visual_tools import (
+    Scales,
+    Colors,
+    EulerConvention,
+    RvizVisualTools,
+)