fixing couple of issue within the dataflow example

examples/python-dataflow/control_node.py

@@ -7,26 +7,18 @@ import pyarrow as pa
 
 node = Node()
 
-event = node.next()
-direction = {
-    "linear": {
-        "x": random.random() + 1,
-    },
-    "angular": {
-        "z": (random.random() - 0.5) * 5,
-    },
-}
-if event["type"] == "INPUT":
-    print(
-        f"""Node received:
+for event in node:
+    if event["type"] == "INPUT":
+        print(
+            f"""Node received:
     id: {event["id"]},
     value: {event["data"]},
     metadata: {event["metadata"]}"""
-    )
-    node.send_output(
-        "direction",
-        pa.array(
-            [random.random() + 1, 0, 0, 0, 0, random.random() - 0.5],
-            type=pa.uint8(),
-        ),
-    )
+        )
+        node.send_output(
+            "direction",
+            pa.array(
+                [random.random() + 1, 0, 0, 0, 0, random.random() - 0.5],
+                type=pa.uint8(),
+            ),
+        )

examples/python-dataflow/dataflow.yaml

@@ -1,11 +1,11 @@
 nodes:
-  - id: dora_ros2_bridge
+  - id: turtle
     custom:
       source: python
-      python: random_turtle.py
+      args: ./random_turtle.py
       inputs:
         direction: control/direction
-        timer: dora/timer/millis/50
+        tick: dora/timer/millis/50
       outputs:
         - turtle_pose
 
@@ -14,6 +14,6 @@ nodes:
       source: python
       args: ./control_node.py
       inputs:
-        turtle_pose: dora_ros2_bridge/turtle_pose
+        turtle_pose: turtle/turtle_pose
       outputs:
-        - direction
+        - direction

examples/python-dataflow/random_turtle.py

@@ -1,9 +1,10 @@
 import time, random
-from dora_ros2_bridge import *
 from dora import Node
+from dora_ros2_bridge import *
 import pyarrow as pa
 
-node = Node()
+
+dora_node = Node()
 context = Ros2Context()
 node = context.new_node("turtle_teleop", "/ros2_demo", Ros2NodeOptions(rosout=True))
 
@@ -17,7 +18,8 @@ twist_writer = node.create_publisher(turtle_twist_topic)
 turtle_pose_topic = node.create_topic("/turtle1/pose", "turtlesim::Pose", topic_qos)
 pose_reader = node.create_subscription(turtle_pose_topic)
 
-for event in node:
+print("looping", flush=True)
+for event in dora_node:
     match event["type"]:
         case "INPUT":
             match event["id"]:
@@ -30,21 +32,26 @@ for event in node:
                             "z": event["data"][5],
                         },
                     }
+
+                    print(direction, flush=True)
                     twist_writer.publish(direction)
                 case "tick":
                     pose = pose_reader.next()
+
                     if pose == None:
-                        break
-                    node.send_output(
+                        print("stop", flush=True)
+                        continue
+
+                    dora_node.send_output(
+                        "turtle_pose",
                         pa.array(
                             [
                                 pose["x"],
                                 pose["y"],
-                                pose["z"],
                                 pose["theta"],
-                                pose["linar_velocity"],
+                                pose["linear_velocity"],
                                 pose["angular_velocity"],
                             ],
                             type=pa.uint8(),
-                        )
+                        ),
                     )

examples/python-standalone-bridge/random_turtle.py

@@ -2,11 +2,13 @@ from dora_ros2_bridge import *
 import time, random
 
 context = Ros2Context()
-node = context.new_node("turtle_teleop", "/ros2_demo", Ros2NodeOptions(rosout = True))
+node = context.new_node("turtle_teleop", "/ros2_demo", Ros2NodeOptions(rosout=True))
 
-topic_qos = Ros2QosPolicies(reliable = True, max_blocking_time = 0.1)
+topic_qos = Ros2QosPolicies(reliable=True, max_blocking_time=0.1)
 
-turtle_twist_topic = node.create_topic("/turtle1/cmd_vel", "geometry_msgs::Twist", topic_qos)
+turtle_twist_topic = node.create_topic(
+    "/turtle1/cmd_vel", "geometry_msgs::Twist", topic_qos
+)
 twist_writer = node.create_publisher(turtle_twist_topic)
 
 turtle_pose_topic = node.create_topic("/turtle1/pose", "turtlesim::Pose", topic_qos)
@@ -14,14 +16,14 @@ pose_reader = node.create_subscription(turtle_pose_topic)
 
 for i in range(500):
     direction = {
-        'linear': {
-            'x': random.random() + 1,
+        "linear": {
+            "x": random.random() + 1,
+        },
+        "angular": {
+            "z": (random.random() - 0.5) * 5,
         },
-        'angular': {
-            'z': (random.random() - 0.5) * 5,
-        }
     }
-    twist_writer.publish(direction);
+    twist_writer.publish(direction)
     while True:
         pose = pose_reader.next()
         if pose == None: