Improve log readibility, add movement randomness, better movement check

examples/python-ros2-dataflow/control_node.py

@@ -15,14 +15,16 @@ for i in range(500):
         match event["id"]:
             case "turtle_pose":
                 print(
-                    f"""Pose: {event["value"]}""".replace("\r", "").replace("\n", " ")
+                    f"""Pose: {event["value"].tolist()}""".replace("\r", "").replace(
+                        "\n", " "
+                    )
                 )
             case "tick":
                 direction = {
                     "linear": {
-                        "x": 1.0,
+                        "x": 1.0 + random.random(),
                     },
-                    "angular": {"z": 1.0},
+                    "angular": {"z": (random.random() - 0.5) * 5},
                 }
 
                 node.send_output(

examples/python-ros2-dataflow/random_turtle.py

@@ -7,6 +7,8 @@ import dora
 from dora import Node
 import pyarrow as pa
 
+CHECK_TICK = 20
+
 ros2_context = dora.experimental.ros2_bridge.Ros2Context()
 ros2_node = ros2_context.new_node(
     "turtle_teleop",
@@ -32,6 +34,7 @@ dora_node = Node()
 dora_node.merge_external_events(pose_reader)
 
 print("looping", flush=True)
+
 for i in range(500):
     event = dora_node.next()
     if event is None:
@@ -46,6 +49,8 @@ for i in range(500):
 
         case "external":
             pose = event.inner()[0].as_py()
-
-            assert pose["x"] != 5.544445, "turtle should not be at initial x axis"
+            if i == CHECK_TICK:
+                assert (
+                    pose["x"] != 5.544444561004639
+                ), "turtle should not be at initial x axis"
             dora_node.send_output("turtle_pose", event.inner())