feat: update message types to use RosTestMsg for better compatibility

Register new message type RosTestMsg in both publisher and subscriber applications. Update data format for publishing events to improve clarity and consistency in message handling. Ensure proper setup in the shell scripts for localization configuration.
AimRT · AimRT · Nov 21, 2024 · Nov 7, 2024 · Nov 7, 2024 · Nov 8, 2024
commit ae64f1c63665f20c67ec3827b609934f5ae3b62f
diff --git a/src/examples/py/ros2_chn/examples_py_ros2_chn_publisher_app.py b/src/examples/py/ros2_chn/examples_py_ros2_chn_publisher_app.py
@@ -7,7 +7,7 @@
 
 import aimrt_py
 import yaml
-from std_msgs.msg import String
+from example_ros2.msg import RosTestMsg
 
 
 def main():
@@ -37,7 +37,7 @@ def main():
     publisher = module_handle.GetChannelHandle().GetPublisher(topic_name)
     assert publisher, f"Get publisher for topic '{topic_name}' failed."
 
-    aimrt_py.RegisterPublishType(publisher, String)
+    aimrt_py.RegisterPublishType(publisher, RosTestMsg)
 
     # Start
     thread = threading.Thread(target=aimrt_core.Start)
@@ -46,24 +46,25 @@ def main():
     # Sleep for seconds
     time.sleep(1)
 
-    msg = String()
+    msg = RosTestMsg()
+    msg.num = 1000
 
     # Publish event
-    msg.data = "Publish without ctx or serialization_type"
+    msg.data = [bytes([x]) for x in [1, 2, 3, 4]]
     aimrt_py.Publish(publisher, msg)
     aimrt_py.info(module_handle.GetLogger(),
                   f"Publish new ros2 message, data: {msg.data}")
 
     # Publish event with ros2 serialization
-    msg.data = "Publish with ros2 serialization"
+    msg.data = [bytes([x]) for x in [5, 6, 7, 8]]
     aimrt_py.Publish(publisher, "ros2", msg)
     aimrt_py.info(module_handle.GetLogger(),
                   f"Publish new ros2 message, data: {msg.data}")
 
     # Publish event with context
     ctx = aimrt_py.Context()
     ctx.SetMetaValue("key1", "value1")
-    msg.data = "Publish with context"
+    msg.data = [bytes([x]) for x in [9, 10, 11, 12]]
     aimrt_py.Publish(publisher, ctx, msg)
     aimrt_py.info(module_handle.GetLogger(),
                   f"Publish new ros2 message, data: {msg.data}")
@@ -73,7 +74,7 @@ def main():
     ctx_ref = aimrt_py.ContextRef(ctx)
     ctx_ref.SetMetaValue("key2", "value2")
     ctx_ref.SetSerializationType("ros2")
-    msg.data = "Publish with context ref"
+    msg.data = [bytes([x]) for x in [13, 14, 15, 16]]
     aimrt_py.Publish(publisher, ctx_ref, msg)
     aimrt_py.info(module_handle.GetLogger(),
                   f"Publish new ros2 message, data: {msg.data}")

diff --git a/src/examples/py/ros2_chn/examples_py_ros2_chn_subscriber_app.py b/src/examples/py/ros2_chn/examples_py_ros2_chn_subscriber_app.py
@@ -8,7 +8,7 @@
 
 import aimrt_py
 import yaml
-from std_msgs.msg import String
+from example_ros2.msg import RosTestMsg
 
 global_aimrt_core = None
 
@@ -58,13 +58,13 @@ def main():
 
     count = 0
 
-    def EventHandle(ctx_ref: aimrt_py.ContextRef, msg: String):
+    def EventHandle(ctx_ref: aimrt_py.ContextRef, msg: RosTestMsg):
         nonlocal count
         count += 1
         aimrt_py.info(module_handle.GetLogger(),
                       f"Get new ros2 message, ctx: {ctx_ref.ToString()}, data: {msg.data}, count: {count}")
 
-    aimrt_py.Subscribe(subscriber, String, EventHandle)
+    aimrt_py.Subscribe(subscriber, RosTestMsg, EventHandle)
 
     # Start
     thread = threading.Thread(target=aimrt_core.Start)

diff --git a/src/examples/py/ros2_chn/start_examples_py_ros2_chn_http_pub.sh b/src/examples/py/ros2_chn/start_examples_py_ros2_chn_http_pub.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
 
 export AIMRT_PLUGIN_DIR=$(pip show aimrt_py | grep Location | awk '{print $2}')/aimrt_py
+source $AIMRT_PLUGIN_DIR/share/example_ros2/local_setup.bash
 
 python3 ./examples_py_ros2_chn_publisher_app.py --cfg_file_path=./cfg/examples_py_ros2_chn_http_pub_cfg.yaml
diff --git a/src/examples/py/ros2_chn/start_examples_py_ros2_chn_http_sub.sh b/src/examples/py/ros2_chn/start_examples_py_ros2_chn_http_sub.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
 
 export AIMRT_PLUGIN_DIR=$(pip show aimrt_py | grep Location | awk '{print $2}')/aimrt_py
+source $AIMRT_PLUGIN_DIR/share/example_ros2/local_setup.bash
 
 python3 ./examples_py_ros2_chn_subscriber_app.py --cfg_file_path=./cfg/examples_py_ros2_chn_http_sub_cfg.yaml
diff --git a/src/runtime/python_runtime/aimrt_py_chn.py b/src/runtime/python_runtime/aimrt_py_chn.py
@@ -55,10 +55,12 @@ def _CreateContextRef(ctx_or_type, default_serialization_type: str) -> aimrt_pyt
 
 
 def _GetRos2MessageTypeName(msg_type: Ros2MsgType) -> str:
-    return "ros2:" + ".".join([msg_type.__module__, msg_type.__name__])
+    module_parts = msg_type.__module__.split('.')
+    module_name = '/'.join(module_parts[:-1])
+    return "ros2:" + "/".join([module_name, msg_type.__name__])
 
 
-def _GetPbMessageTypeName(msg: google.protobuf.message.Message | google._upb._message.MessageMeta) -> str:
+def _GetPbMessageTypeName(msg: google._upb._message.MessageMeta) -> str:
     return f"pb:{msg.DESCRIPTOR.full_name}"
 
 
@@ -74,13 +76,11 @@ def RegisterPublishType(publisher: aimrt_python_runtime.PublisherRef,
         bool: True if success, False otherwise
     """
     if isinstance(msg_type, google._upb._message.MessageMeta):
-        print(f"_GetPbMessageTypeName(msg_type): {_GetPbMessageTypeName(msg_type)}")
         py_pb_ts = aimrt_python_runtime.PyPbTypeSupport()
         py_pb_ts.SetTypeName(_GetPbMessageTypeName(msg_type))
         py_pb_ts.SetSerializationTypesSupportedList(["pb", "json"])
         return publisher.RegisterPbPublishType(py_pb_ts)
     elif check_is_valid_ros2_msg_type(msg_type):
-        print(f"_GetRos2MessageTypeName(msg_type): {_GetRos2MessageTypeName(msg_type)}")
         py_ros2_ts = aimrt_python_runtime.PyRos2TypeSupport(msg_type)
         py_ros2_ts.SetTypeName(_GetRos2MessageTypeName(msg_type))
         py_ros2_ts.SetSerializationTypesSupportedList(["ros2"])