Merge branch 'main' into origin/dev

tutorials/pick_and_place/ROS/src/niryo_moveit/scripts/server_endpoint.py

+#!/usr/bin/env python
+
+import rospy
+
+from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService
+from niryo_moveit.msg import NiryoMoveitJoints, NiryoTrajectory
+from niryo_moveit.srv import MoverService
+
+
+def main():
+    ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
+    tcp_server = TcpServer(ros_node_name)
+    rospy.init_node(ros_node_name, anonymous=True)
+
+    # Start the Server Endpoint with a ROS communication objects dictionary for routing messages
+    tcp_server.start({
+        'SourceDestination_input': RosPublisher('SourceDestination', NiryoMoveitJoints, queue_size=10),
+        'NiryoTrajectory': RosSubscriber('NiryoTrajectory', NiryoTrajectory, tcp_server),
+        'niryo_moveit': RosService('niryo_moveit', MoverService)
+    })
+    
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    main()

tutorials/pick_and_place/docker/Dockerfile

 
 RUN /bin/bash -c "find $ROS_WORKSPACE -type f -print0 | xargs -0 dos2unix"
 
-RUN dos2unix /tutorial /setup.sh && chmod +x /setup.sh && /setup.sh && rm /setup.sh
+RUN dos2unix /tutorial && dos2unix /setup.sh && chmod +x /setup.sh && /setup.sh && rm /setup.sh
 
 WORKDIR $ROS_WORKSPACE
 

tutorials/ros_packages/robotics_demo/scripts/server_endpoint.py

+#!/usr/bin/env python
+
+import rospy
+
+from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService
+from robotics_demo.msg import PosRot, UnityColor
+from robotics_demo.srv import PositionService
+
+def main():
+    ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
+    buffer_size = rospy.get_param("/TCP_BUFFER_SIZE", 1024)
+    connections = rospy.get_param("/TCP_CONNECTIONS", 10)
+    tcp_server = TcpServer(ros_node_name, buffer_size, connections)
+    rospy.init_node(ros_node_name, anonymous=True)
+    
+    tcp_server.start({
+        'pos_srv': RosService('position_service', PositionService),
+        'pos_rot': RosPublisher('pos_rot', PosRot, queue_size=10),
+        'color': RosSubscriber('color', UnityColor, tcp_server)
+    })
+    
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    main()