Python Interface

To interact with the simulation and send control commands to the robot(s), the Python Interface xiron_py can be used.

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

1. 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 example demonstating the use of callback function to gather scan and pose data and use velocity publisher to send control commands is shown below.

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!")

Datatypes

Information about Pose, LaserScan data and Twist (velocity) of the robot are passed via the python dataclasses below.

@dataclass
class Twist:
    robot_id: str
    linear: tuple[float, float]
    angular: float


@dataclass
class Pose:
    robot_id: str
    position: tuple[float, float]
    orientation: float


@dataclass
class LaserScan:
    robot_id: str
    angle_min: float
    angle_max: float
    num_readings: int
    values: List[float]

The source code for xiron_py is hosted here.