From 8d83e3d7081a25ab7a5ee5c465a2aca46422f581 Mon Sep 17 00:00:00 2001 From: shalenikol Date: Tue, 20 May 2025 11:21:03 +0300 Subject: [PATCH] add Example of using demo recording to rosbag --- rbs_utils/rbs_utils/CMakeLists.txt | 3 ++- .../scripts/example_recording_demo.py | 19 +++++++++++++++++++ 2 files changed, 21 insertions(+), 1 deletion(-) create mode 100644 rbs_utils/rbs_utils/scripts/example_recording_demo.py diff --git a/rbs_utils/rbs_utils/CMakeLists.txt b/rbs_utils/rbs_utils/CMakeLists.txt index 840ad4b..a0e4d67 100644 --- a/rbs_utils/rbs_utils/CMakeLists.txt +++ b/rbs_utils/rbs_utils/CMakeLists.txt @@ -37,6 +37,7 @@ ament_python_install_package(${PROJECT_NAME}) install(PROGRAMS scripts/assembly_config_service.py scripts/recording_demo_via_rosbag.py + scripts/example_recording_demo.py DESTINATION lib/${PROJECT_NAME} ) @@ -46,7 +47,7 @@ install(PROGRAMS # ) install( - DIRECTORY launch + DIRECTORY launch config DESTINATION share/${PROJECT_NAME} ) diff --git a/rbs_utils/rbs_utils/scripts/example_recording_demo.py b/rbs_utils/rbs_utils/scripts/example_recording_demo.py new file mode 100644 index 0000000..1e8e2d0 --- /dev/null +++ b/rbs_utils/rbs_utils/scripts/example_recording_demo.py @@ -0,0 +1,19 @@ +#!/usr/bin/env python3 +""" + Example of using demo recording to rosbag + ```bash + ros2 run rbs_utils example_recording_demo.py + + @shalenikol release 0.1 +""" +from rbs_utils.recording_demo import recording_demo, CommandType + +if __name__ == '__main__': + res = recording_demo() # default: CommandType.RUN + print(f"{res=}") + res = recording_demo(CommandType.SAVE_AND_NEXT) + print(f"{res=}") + res = recording_demo(CommandType.CANCEL_AND_NEXT) + print(f"{res=}") + res = recording_demo(CommandType.STOP_AND_SAVE) + print(f"{res=}")