Python ROS Engine¶

A pure Python implementation of ROS2 core functionality with bridging capabilities to interact with native ROS nodes.

Features¶

• Node creation and lifecycle management
• Publisher and subscriber patterns with Quality of Service (QoS) profiles
• Service and client communication
• Parameter handling with callbacks
• Topic and service discovery
• Timer functionality
• ROS1 bridging capabilities for node/topic/service discovery
• Message translation between Python ROS engine and native ROS
• Configuration with Hydra best practices
• Launch system for managing multiple nodes
• System status reporting for nodes, topics, and services

Project Structure¶

graph TD
    A[Python ROS Engine] --> B[Core Functionality]
    A --> C[Bridging Capabilities]
    A --> D[Launch System]
    B --> B1[Node Management]
    B --> B2[Publishers/Subscribers]
    B --> B3[Services/Clients]
    B --> B4[Parameters]
    B --> B5[Timers]
    C --> C1[ROS1 Bridge]
    C --> C2[Message Translation]
    D --> D1[Launch Description]
    D --> D2[System Status]

Message Types¶

The Python ROS Engine supports a wide range of message types:

Primitive Types¶

• Bool: Boolean values
• String: String values
• Int8, Int16, Int32, Int64: Signed integer values
• UInt8, UInt16, UInt32, UInt64: Unsigned integer values
• Float32, Float64: Floating point values
• Empty: Empty messages
• Time: Time values
• Duration: Duration values

Multi-dimensional Array Types¶

• ByteMultiArray: Multi-array of bytes
• Int8MultiArray, Int16MultiArray, Int32MultiArray, Int64MultiArray: Multi-arrays of integer values
• UInt8MultiArray, UInt16MultiArray, UInt32MultiArray, UInt64MultiArray: Multi-arrays of unsigned integer values
• Float32MultiArray, Float64MultiArray: Multi-arrays of floating point values

Getting Started¶

To get started with the Python ROS Engine, check out our Installation Guide and Usage Guide.

Documentation¶

• API Documentation - Detailed information about all classes and methods
• Bridging with Native ROS - Information about interacting with native ROS systems
• Launch System - Information about the launch system for managing multiple nodes
• Usage Guide - Comprehensive guide on how to use the engine

Examples¶

See our Examples page for complete working examples demonstrating various features of the Python ROS Engine.

We've also included a Complete Example Project that shows how to build a robot system with multiple interconnected nodes using best practices.

Contributing¶

We welcome contributions! Please see our Contributing Guide for details on how to contribute to this project.

License¶

This project is licensed under the Apache License 2.0 - see the License file for details.