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ROSGObject

ROSGObject is a collection of GObjects and GtkWidget wrappers for the ROS IPC primitives. The following image contains examples of the supported wrapper widgets

This includes wrapper widgets

  • For displaying topics
  • For displaying / changing parameter values
  • For publishing topics
  • For starting and stopping nodes
  • For making service calls

ROSGObject also includes API for mixing the ROS and GObject mainloops in the same process, allowing GUI programs to be killed by closing the window, or by rosnode kill /node. A minimal example showing the interaction of the two API is thus

rosgobject.init_node("minimal")
w = Gtk.Window()
w.connect("delete-event", rosgobject.main_quit)
rosgobject.spin()

A minimal working example of using the wrapper widgets

rosgobject.init_node("testminimal")
w = Gtk.Window()
w.connect("delete-event", rosgobject.main_quit)
e = rosgobject.wrappers.GtkEntryTopicWidget(
            nodepath="/testnode/string",
            msgclass=std_msgs.msg.String)
w.add(e.widget) #note the .widget!
w.show_all()
rosgobject.spin()

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