XironPy

This is a simple Python Interface to use the Xiron Simulator

Dependencies

1. Make sure you have python installed on your system. Python can be installed from here
2. Install pip to manage dependencies. Instructions are available here

Installation

1. Use pip to install the module. To install it directly from github:

pip install git+https://github.com/SuhrudhSarathy/xironpy.git

2. To install from source, clone the repository and use pip to install

git clone https://github.com/SuhrudhSarathy/xironpy.git

cd xironpy
pip install -e .

Usage

A simple script can be found in examples

from xiron_py.comms import XironContext
from xiron_py.data import Twist
from time import sleep


def scan_callback(msg):
    print(f"Recieved Scan message: {msg}")


def pose_callback(msg):
    print(f"Recieved Pose message: {msg}")


if __name__ == "__main__":
    # Create a context object
    ctx = XironContext()

    # Create the Velocity publisher for robot0
    vel_pub = ctx.create_vel_publisher("robot0")

    # Create the Scan Subscriber and add callback function
    ctx.create_scan_subscriber("robot0", scan_callback)

    # Create the Pose Subscriber and add callback function
    ctx.create_pose_subscriber("robot0", pose_callback)

    twist_message = Twist("robot0", [0.1, 0.0], 0.1)
    for i in range(100):
        vel_pub.publish(twist_message)
        print("Publihsed vel: ", i)
        sleep(0.1)

    twist_message = Twist("robot0", [0.0, 0.0], 0.0)
    vel_pub.publish(twist_message)

    print("Done!")

Documentation

Documentation can be found here