Add documentation to the ROS2 bridge

examples/python-ros2-dataflow/random_turtle.py

@@ -1,14 +1,12 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
-import time
-import random
 import dora
 from dora import Node
-import pyarrow as pa
 
 CHECK_TICK = 50
 
+# Create a ROS2 Context
 ros2_context = dora.experimental.ros2_bridge.Ros2Context()
 ros2_node = ros2_context.new_node(
     "turtle_teleop",
@@ -16,21 +14,27 @@ ros2_node = ros2_context.new_node(
     dora.experimental.ros2_bridge.Ros2NodeOptions(rosout=True),
 )
 
+# Define a ROS2 QOS
 topic_qos = dora.experimental.ros2_bridge.Ros2QosPolicies(
     reliable=True, max_blocking_time=0.1
 )
 
+# Create a publisher to cmd_vel topic
 turtle_twist_topic = ros2_node.create_topic(
     "/turtle1/cmd_vel", "geometry_msgs::Twist", topic_qos
 )
 twist_writer = ros2_node.create_publisher(turtle_twist_topic)
 
+# Create a listener to pose topic
 turtle_pose_topic = ros2_node.create_topic(
     "/turtle1/pose", "turtlesim::Pose", topic_qos
 )
 pose_reader = ros2_node.create_subscription(turtle_pose_topic)
 
+# Create a dora node
 dora_node = Node()
+
+# Listen for both stream on the same loop as Python does not handle well multiprocessing
 dora_node.merge_external_events(pose_reader)
 
 print("looping", flush=True)
@@ -40,6 +44,7 @@ for i in range(500):
     if event is None:
         break
     match event["kind"]:
+        # Dora event
         case "dora":
             match event["type"]:
                 case "INPUT":
@@ -47,6 +52,7 @@ for i in range(500):
                         case "direction":
                             twist_writer.publish(event["value"])
 
+        # ROS2 Event
         case "external":
             pose = event.inner()[0].as_py()
             if i == CHECK_TICK: