@holoscript/robotics-plugin 1.0.0

package/python/ros2_bridge.py

@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+"""
+ROS2 Bridge for HoloScript Robotics Plugin
+Runtime integration with ROS2 via rosbridge_server
+
+Requirements:
+  pip install roslibpy
+
+Usage:
+  from ros2_bridge import ROS2Bridge
+
+  bridge = ROS2Bridge('ws://localhost:9090')
+  bridge.connect()
+  bridge.publish_joint_command('/joint_states', {...})
+"""
+
+import sys
+import json
+from typing import Dict, Any, List
+import roslibpy
+
+class ROS2Bridge:
+    """ROS2 runtime bridge for HoloScript robotics"""
+
+    def __init__(self, ros_bridge_url: str = 'ws://localhost:9090'):
+        self.ros_bridge_url = ros_bridge_url
+        self.client = None
+        self.subscribers = {}
+        self.publishers = {}
+
+    def connect(self) -> Dict[str, Any]:
+        """Connect to ROS2 via rosbridge_server"""
+        try:
+            self.client = roslibpy.Ros(host=self.ros_bridge_url.replace('ws://', '').split(':')[0],
+                                       port=int(self.ros_bridge_url.split(':')[-1]))
+            self.client.run()
+
+            return {
+                'status': 'success',
+                'connected': self.client.is_connected,
+                'url': self.ros_bridge_url,
+            }
+        except Exception as e:
+            return {
+                'status': 'failed',
+                'error': str(e),
+            }
+
+    def publish_joint_command(self, topic: str, joint_positions: Dict[str, float]) -> Dict[str, Any]:
+        """Publish joint command to ROS2 topic"""
+        try:
+            if topic not in self.publishers:
+                self.publishers[topic] = roslibpy.Topic(self.client, topic, 'sensor_msgs/JointState')
+
+            msg = {
+                'name': list(joint_positions.keys()),
+                'position': list(joint_positions.values()),
+            }
+
+            self.publishers[topic].publish(roslibpy.Message(msg))
+
+            return {'status': 'success', 'topic': topic}
+        except Exception as e:
+            return {'status': 'failed', 'error': str(e)}
+
+    def get_status(self) -> Dict[str, Any]:
+        """Get bridge status"""
+        return {
+            'connected': self.client.is_connected if self.client else False,
+            'url': self.ros_bridge_url,
+            'version': '1.0.0',
+        }
+
+if __name__ == '__main__':
+    bridge = ROS2Bridge()
+    status = bridge.connect()
+    print(f"ROS2 Bridge: {status}")