Add tutorial for Cache filter for Python #185

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ahcorde merged 2 commits into ros2:rolling from EsipovPA:add-tutorials

Jun 27, 2025

Contributor

EsipovPA commented Jun 25, 2025 •

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Description

Added a tutorial for Cache message filter class for Python programming launguage.

Partially fixes #130

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Additional Information

Contributor Author

EsipovPA commented Jun 25, 2025 •

edited

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Noticed the formatting issues in python code snippets. I've copied this examples from VSCode to Formiko editor part by part. In the editor it looked Ok, but turns out, it is not. Will fix asap.

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ahcorde left a comment

Add also a link in tutorials.rst

doc/Tutorials/Cache-Python.rst Outdated

+              Overview
+              ~~~~~~~~
+              This tutorial demonstrates how to use the ``message_filters.Cache`` class in ROS 2 using Python. The ``Cache`` filter stores a time history of messages and allows querying based on timestamps.

Contributor

ahcorde Jun 26, 2025

One sentence per line

Suggested change

      
            This tutorial demonstrates how to use the ``message_filters.Cache`` class in ROS 2 using Python. The ``Cache`` filter stores a time history of messages and allows querying based on timestamps.
          
            This tutorial demonstrates how to use the ``message_filters.Cache`` class in ROS 2 using Python. 
          
            The ``Cache`` filter stores a time history of messages and allows querying based on timestamps.

doc/Tutorials/Cache-Python.rst

Comment on lines 15 to 18

		If you have not done so already `create a workspace <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html>`_ and `create a package <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html>`_


		1. Create an Example Node with Includes

Contributor

ahcorde Jun 26, 2025

Suggested change

      
            If you have not done so already `create a workspace <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html>`_ and `create a package <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html>`_
          
            1. Create an Example Node with Includes
          
            If you have not done so already `create a workspace <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html>`_ and `create a package <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html>`_
          
            1. Create an Example Node with Includes

doc/Tutorials/Cache-Python.rst Outdated

+. Create an Example Node with Includes
+              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+              Let's assume, you've already created an empty ros package for Python. The next step is to create a new Python file inside your package, e.g., ``cache_tutorial.py``, and create an example node:

Contributor

ahcorde Jun 26, 2025

Suggested change

      
            Let's assume, you've already created an empty ros package for Python. The next step is to create a new Python file inside your package, e.g., ``cache_tutorial.py``, and create an example node:
          
            Let's assume, you've already created an empty ros package for Python. 
          
            The next step is to create a new Python file inside your package, e.g., ``cache_tutorial.py``, and create an example node:

doc/Tutorials/Cache-Python.rst Outdated

+                          qos = QoSProfile(depth=10)
+                          # Publisher and Subscriber
+              		        self.publisher = self.create_publisher(String, 'input', qos_profile)

Contributor

ahcorde Jun 26, 2025

identation looks wrong

doc/Tutorials/Cache-Python.rst Outdated


		.. code-block:: python

		self.subscriber_filter = Subscriber(

Contributor

ahcorde Jun 26, 2025

identation

doc/Tutorials/Cache-Python.rst Outdated

+                          qos = QoSProfile(depth=10)
+                          # Publisher and Subscriber
+              		        self.publisher = self.create_publisher(String, 'input', qos_profile)

Contributor

ahcorde Jun 26, 2025

indentation

doc/Tutorials/Cache-Python.rst Outdated

+              .. code-block:: python
+                          # Simulate publishing via timer
+              		        self.publisher_timer = self.create_timer(

Contributor

ahcorde Jun 26, 2025

identation

doc/Tutorials/Cache-Python.rst Outdated


		.. code-block:: python

		def publisher_timer_callback(self):

Contributor

ahcorde Jun 26, 2025

identation

EsipovPA force-pushed the add-tutorials branch 3 times, most recently from 328bd0b to fcf4994 Compare

June 26, 2025 09:32

Contributor Author

EsipovPA commented Jun 26, 2025 •

edited

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@ahcorde Thank you for providing a review so quickly! I've updated the code, fixed the indentations and added the other changes, you've recommended. It would be great if you could have another look at this PR at your convenience.

EsipovPA requested a review from ahcorde

June 26, 2025 09:44

ahcorde requested changes

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doc/Tutorials/Cache-Python.rst Outdated

+                          self.cahce_filter = Cache(
+                              self.subscriber_filter,
+                              cache_size=5,
+                              allow_headerless=True,  # To allow cahcing basic String message

Contributor

ahcorde Jun 27, 2025

Suggested change

      
                            allow_headerless=True,  # To allow cahcing basic String message
          
                            allow_headerless=True,  # To allow caching basic String message

doc/Tutorials/Cache-Python.rst Outdated

+                          self.cahce_filter = Cache(
+                              self.subscriber_filter,
+                              cache_size=5,
+                              allow_headerless=True,  # To allow cahcing basic String message

Contributor

ahcorde Jun 27, 2025

Suggested change

      
                            allow_headerless=True,  # To allow cahcing basic String message
          
                            allow_headerless=True,  # To allow caching basic String message

doc/Tutorials/Cache-Python.rst Outdated

+                              "/example/topic",
+                              qos_profile=qos_profile,
+                          )
+                          self.cahce_filter = Cache(

Contributor

ahcorde Jun 27, 2025

Suggested change

      
                        self.cahce_filter = Cache(
          
                        self.cache = Cache(

doc/Tutorials/Cache-Python.rst Outdated Show resolved Hide resolved

doc/Tutorials/Cache-Python.rst Outdated

Comment on lines 251 to 259

+              .. code-block:: bash
+                  colcon build && . install/setup.bash
+              Or, if you're using ZSH:
+              .. code-block:: bash
+                  colcon build && . install/setup.zsh

Contributor

ahcorde Jun 27, 2025

Suggested change

      
            .. code-block:: bash
          
                colcon build && . install/setup.bash
          
            Or, if you're using ZSH:
          
            .. code-block:: bash
          
                colcon build && . install/setup.zsh
          
            .. tabs::
          
              .. group-tab:: Linux
          
                .. code-block:: console
          
                    $ colcon build && . install/setup.bash
          
              .. group-tab:: macOS
          
                .. code-block:: console
          
                    $ colcon build && . install/setup.bash
          
              .. group-tab:: Windows
          
                .. code-block:: console
          
                    $ colcon build
          
                    $ call C:\dev\ros2\local_setup.bat

EsipovPA force-pushed the add-tutorials branch from fcf4994 to b2e5cc0 Compare

June 27, 2025 08:51

Contributor Author

EsipovPA commented Jun 27, 2025

@ahcorde Thanks again for updates! I've fixed the typos and changed the naming as you've suggested, and updated the build/install section.

ahcorde requested changes

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doc/Tutorials/Cache-Python.rst Outdated


		From the root of your workspace:

		.. tab:

Contributor

ahcorde Jun 27, 2025

Suggested change

      
            .. tab:
          
            .. tabs:

Contributor Author

EsipovPA Jun 27, 2025

Yes, I've noticed this right after pushing. Already fixed. :)


          Add tutorial for Cache filter for Python

991ca32

Signed-off-by: EsipovPA <esipov.p@mail.ru>

EsipovPA force-pushed the add-tutorials branch from b2e5cc0 to 991ca32 Compare

June 27, 2025 08:59


          Update doc/Tutorials/Cache-Python.rst

e80c984

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

ahcorde approved these changes

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ahcorde merged commit 001129d into ros2:rolling

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Contributor

ahcorde commented Jun 27, 2025

Thank you / Спасибо @EsipovPA

Contributor

ahcorde commented Jun 27, 2025

https://github.com/Mergifyio backport kilted jazzy humble

mergify bot commented Jun 27, 2025 •

edited

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backport kilted jazzy humble

✅ Backports have been created

#187 Add tutorial for Cache filter for Python (backport #185) has been created for branch kilted
#188 Add tutorial for Cache filter for Python (backport #185) has been created for branch jazzy
#189 Add tutorial for Cache filter for Python (backport #185) has been created for branch humble

mergify bot pushed a commit that referenced this pull request


          Add tutorial for Cache filter for Python (#185)

d28cf2b

Signed-off-by: EsipovPA <esipov.p@mail.ru>
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
(cherry picked from commit 001129d)

mergify bot pushed a commit that referenced this pull request


          Add tutorial for Cache filter for Python (#185)

Signed-off-by: EsipovPA <esipov.p@mail.ru>
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
(cherry picked from commit 001129d)

mergify bot pushed a commit that referenced this pull request


          Add tutorial for Cache filter for Python (#185)

6814a34

Signed-off-by: EsipovPA <esipov.p@mail.ru>
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
(cherry picked from commit 001129d)

This was referenced Jun 27, 2025

Add tutorial for Cache filter for Python (backport #185) #187

Merged

Add tutorial for Cache filter for Python (backport #185) #188

Merged

Add tutorial for Cache filter for Python (backport #185) #189

Merged

ahcorde added a commit that referenced this pull request


          Add tutorial for Cache filter for Python (#185) (#187)

(cherry picked from commit 001129d)

Signed-off-by: EsipovPA <esipov.p@mail.ru>
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

ahcorde added a commit that referenced this pull request


          Add tutorial for Cache filter for Python (#185) (#188)

d6fd7d7

(cherry picked from commit 001129d)

Signed-off-by: EsipovPA <esipov.p@mail.ru>
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

ahcorde added a commit that referenced this pull request


          Add tutorial for Cache filter for Python (#185) (#189)

aa3b526

(cherry picked from commit 001129d)

Signed-off-by: EsipovPA <esipov.p@mail.ru>
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

EsipovPA deleted the add-tutorials branch

July 15, 2025 20:44

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