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Adds the python bindings tutorial #450

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merged 6 commits into from
Nov 3, 2023
Merged

Adds the python bindings tutorial #450

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da3094b
Adds the python tutorial for the bindings
Voldivh Oct 3, 2023
80212ae
Address review comments
Voldivh Oct 4, 2023
d1de32d
Adds the required snippet tags to the examples
Voldivh Oct 5, 2023
b774eb6
Shortens a couple of lines
Voldivh Oct 16, 2023
e407bf5
Uses capital P on Python
Voldivh Oct 16, 2023
46e050b
Fixes some grammar
Voldivh Oct 24, 2023
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6 changes: 3 additions & 3 deletions python/examples/publisher.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@

from gz.msgs10.stringmsg_pb2 import StringMsg
from gz.msgs10.vector3d_pb2 import Vector3d
from gz.transport13 import AdvertiseMessageOptions
from gz.transport13 import Node

import time
Expand All @@ -39,10 +38,11 @@ def main():
while True:
count += 1
vector3d_msg.x = count
if not (pub_stringmsg.publish(stringmsg_msg) or pub_vector3d.publish(vector3d_msg)):
if not pub_stringmsg.publish(stringmsg_msg):
break

print("Publishing 'Hello' on topic [{}]".format(stringmsg_topic))
if not pub_vector3d.publish(vector3d_msg):
break
print("Publishing a Vector3d on topic [{}]".format(vector3d_topic))
time.sleep(0.1)

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1 change: 0 additions & 1 deletion python/examples/subscriber.py
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Expand Up @@ -15,7 +15,6 @@

from gz.msgs10.stringmsg_pb2 import StringMsg
from gz.msgs10.vector3d_pb2 import Vector3d
from gz.transport13 import SubscribeOptions
from gz.transport13 import Node

import time
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2 changes: 1 addition & 1 deletion python/src/transport/_gz_transport_pybind11.cc
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Expand Up @@ -186,7 +186,7 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {

py::class_<TopicStatistics>(
m, "TopicStatistics",
"This class encapsulates statistics for a single topic..")
"This class encapsulates statistics for a single topic.")
.def(py::init<>());

auto node = py::class_<Node>(m, "Node",
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4 changes: 2 additions & 2 deletions tutorials/01_intro.md
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Expand Up @@ -20,5 +20,5 @@ combination of custom code and [ZeroMQ] (http://zeromq.org/).

## What programming language can I use with Gazebo Transport?

C++ is the native implementation and so far the only way to use the library.
We hope to offer different wrappers for the most popular languages in the future.
C++ is the native implementation and the only language that has all available library features.
Python implementation is a wrapper around C++ methods using `pybind11`. It does not support all features like C++, but contains the main features such as publication, subscription and service request.
2 changes: 1 addition & 1 deletion tutorials/05_services.md
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@@ -1,6 +1,6 @@
\page services Services

Next Tutorial: \ref security
Next Tutorial: \ref python
Previous Tutorial: \ref messages

## Overview
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