README.md

Python class: (ROSMicroPy)

Methods:

setDomainID(id:int)

Sets the domain ID of the ROS Node.

• Must be called prior to Init

setNamespace(namespace:str)

Sets the Namespace of the ROS Node.

• Must be called prior to Init

setNodeName(name:str)

Sets the NodeName of the ROS Node.

• Must be called prior to Init

registerDataType(mp_obj_t dataMap:rosTypeDataMap)

Using the dataMap defined by the ROS .msg compiler, create a virtual named type that will be used when receiving or publishing messages.

• Init must be called prior

registerEventSubscription(eventName:str, dataTypeName:str, eventCallback)

Register a callback function that will be called when a named event arrives (i.e. /cmd_vel) This call will marshal the binary data passed in to the event, builds the Micropython representation of that variable and passes that to the registered callback function.

• Init must be called prior
• Data type needs to be registered prior

publishMsg(msgPath:str, dataTypeName:str, data:any)

Publish a ROS Message to the end point defined by msgPath, using a registered data type dataTypeName, along with the Micropython representation of that dataType. ROSMicroPy will populate the data message using named variables, i.e. Geometry_Twist defines two Vector3's named linear and angular. ROSMicroPy will identity those variables by name and will ignore any named variables not defined in the data type.

init_ROS_Stack()

Initialize the ROS Stack, initializing up the basic ROS infrastructure variables.

run_ROS_Stack()

Create a Micropython thread and start the execution of the ROS Stack. This call will return right away after establishing the thread. As the thread is created, the GIL ( Micropython's Global interpreter lock ) will be acquired to do some housekeeping, then released while the ROS Thread is spinning. When an event occurs that requires a callback into the interpreter, the GIL will be reacquired then release once the operation in Micropython is complete. This allows for minimal GIL arbitration and smoother Micropython execution

• Init must be called prior