Add a zcam-rs and float32-data demos to work with rs and ROS2

README.md

@@ -60,7 +60,7 @@ dashboard. Three subscriber frontends are provided: a Python script using
 [Matplotlib](https://matplotlib.org/), a browser client and a
 [Freeboard](https://freeboard.github.io) configuation.
 
-**computer-vision/zcam/zcam-{python,rust,rest}**: consists of two Zenoh nodes: a
+**computer-vision/zcam/zcam-{python,rust,rest,rs-python}**: consists of two Zenoh nodes: a
 publisher capturing a camera video stream and a subscriber displaying said video
 stream. Both of the Python and Rust implementations use
 [OpenCV](https://opencv.org/) to encode and decode data.
@@ -97,6 +97,10 @@ obstacles and environment boundaries (e.g. walls of a room).
 teleoperation messages by reading keyboard input (i.e. arrow keys). Both of the
 Rust and Python implementations are terminal applications.
 
+**ROS2/zenoh-python-float32-data**: Zenoh nodes that publish
+[Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)
+Float32 message might be used to publish real-time sensor data such as temperature readings, velocity, or any other numerical value.
+
 **zenoh-home/{light,soil,temp-humi}-sensor**: Zenoh nodes running Zenoh
 [Pico](https://github.com/eclipse-zenoh/zenoh-pico) on an
 [ESP32](https://en.wikipedia.org/wiki/ESP32) board which publish sensor data

ROS2/zenoh-python-float32-data/README.md

@@ -0,0 +1,31 @@
+# A zenoh Python Float32 data for ROS2
+
+## **Requirements**
+
+* Python 3.6 minimum
+* A [zenoh router](http://zenoh.io/docs/getting-started/quick-test/)
+* The [zenoh/DDS bridge](https://github.com/eclipse-zenoh/zenoh-plugin-dds#trying-it-out)
+* [zenoh-python](https://github.com/eclipse-zenoh/zenoh-python): install it with `pip install eclipse-zenoh`.
+* [pycdr2](https://pypi.org/project/pycdr2/): install it with `pip install pycdr2`.
+
+-----
+
+## **Usage**
+
+1. Start the zenoh/DDS bridge:
+
+    ```bash
+    zenoh-bridge-dds
+    ```
+
+2. Start Ros2Float32
+
+    ```bash
+    python ros2-float32-data.py
+    ```
+
+3. Start Rviz2 and Setting Plotter2D
+
+    ```bash
+    python ros2-float32-data.py
+    ```

ROS2/zenoh-python-float32-data/ros2-float32-data.py

@@ -0,0 +1,103 @@
+#
+# Copyright (c) 2024 ZettaScale Technology Inc.
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+# which is available at https://www.apache.org/licenses/LICENSE-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+#
+# Contributors:
+#   The Zenoh Team, <[email protected]>
+#
+
+import argparse
+import zenoh
+import random
+import time
+import json
+
+from dataclasses import dataclass
+from pycdr2 import IdlStruct
+from pycdr2.types import int32, uint32, float32
+
+
+@dataclass
+class Time(IdlStruct, typename="Time"):
+    sec: int32
+    nanosec: uint32
+
+@dataclass
+class Float32(IdlStruct, typename="std_msgs/msg/Float32"):
+    data: float32
+
+
+def main():
+    # --- Command line argument parsing ---
+    parser = argparse.ArgumentParser(
+        prog='random_float32_publisher',
+        description='zenoh random Float32 publisher example')
+    parser.add_argument('--mode', '-m', dest='mode',
+                        choices=['peer', 'client'],
+                        type=str,
+                        help='The zenoh session mode.')
+    parser.add_argument('--connect', '-e', dest='connect',
+                        metavar='ENDPOINT',
+                        action='append',
+                        type=str,
+                        help='zenoh endpoints to connect to.')
+    parser.add_argument('--listen', '-l', dest='listen',
+                        metavar='ENDPOINT',
+                        action='append',
+                        type=str,
+                        help='zenoh endpoints to listen on.')
+    parser.add_argument('--config', '-c', dest='config',
+                        metavar='FILE',
+                        type=str,
+                        help='A configuration file.')
+    parser.add_argument('--topic', '-t', dest='topic',
+                        default='random_float32',
+                        type=str,
+                        help='The topic to publish Float32 data.')
+    parser.add_argument('--float32_data', '-f', dest='float32_data',
+                        default='10.0',
+                        type=float,
+                        help='The float32_data of publishing.')
+
+    args = parser.parse_args()
+    conf = zenoh.Config.from_file(args.config) if args.config is not None else zenoh.Config()
+    if args.mode is not None:
+        conf.insert_json5(zenoh.config.MODE_KEY, json.dumps(args.mode))
+    if args.connect is not None:
+        conf.insert_json5(zenoh.config.CONNECT_KEY, json.dumps(args.connect))
+    if args.listen is not None:
+        conf.insert_json5(zenoh.config.LISTEN_KEY, json.dumps(args.listen))
+    topic = args.topic
+    float32_data = args.float32_data
+
+    # zenoh-net session initialization
+    print("Opening session...")
+    session = zenoh.open(conf)
+
+    print(f"Publishing random Float32 data on topic '{topic}' at {float32_data}.")
+
+    def pub_float32(data):
+        print("Pub float32: {}".format(data))
+        t = Float32(data=float(data))
+        session.put(topic, t.serialize())
+
+    try:
+        interval = 1.0 / float32_data
+        while True:
+            random_value = random.uniform(-10, 10.0)  # Generate random float between -100.0 and 100.0
+            pub_float32(random_value)
+            print(f"Published: {random_value} to topic '{topic}'")
+            time.sleep(interval)
+    except KeyboardInterrupt:
+        print("Shutting down...")
+    finally:
+        session.close()
+
+if __name__ == "__main__":
+    main()

ROS2/zenoh-rest-teleop/README.md

@@ -37,9 +37,28 @@ via the zenoh REST API, bridged to ROS2.
      * Keep pressing the arrow buttons (or arrows on your keyboard) to publish Twist messages (a STOP Twist with 0 speed is published when released).
      * All the messages published on "rosout" via ROS2 will be displayed in the bottom box.
 
+### ros2-tb3-teleop.html
 
-⚠️ Note: this demo depends on the Ros2 Middleware implementation being set to CycloneDDS  
-Installation instructions for CycloneDDS below:  
-https://docs.ros.org/en/humble/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html  
-Once installed the middleware env var must be set : 
+A simple teleop web page allowing to publish Twists and to subscribe to Logs
+via the zenoh REST API, bridged to ROS2 for Turtlebot3 on Gazebo.
+
+1. Start the Turtlebot3 launch file:
+Please clone the turtlebot3_simulations package beforehand.
+
+     ```bash
+     RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 launch turtlebot3_gazebo turtlebot3_wolrd.launch.py
+     ```
+
+2. Start the zenoh/DDS bridge, activating its REST API:
+
+     ```bash
+     zenoh-bridge-ros2dds --rest-http-port 8000
+     ```
+
+3. Open the `ros2-tb3-teleop.html` file in a Web browser
+
+⚠️ Note: this demo depends on the Ros2 Middleware implementation being set to CycloneDDS
+Installation instructions for CycloneDDS below:
+https://docs.ros.org/en/humble/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html
+Once installed the middleware env var must be set :
 `RMW_IMPLEMENTATION=rmw_cyclonedds_cpp`