Adjust python-ros2-dataflow example and move it to top level

Cargo.toml

@@ -114,6 +114,11 @@ path = "examples/c++-dataflow/run.rs"
 name = "python-dataflow"
 path = "examples/python-dataflow/run.rs"
 
+[[example]]
+name = "python-ros2-dataflow"
+path = "examples/python-ros2-dataflow/run.rs"
+required-features = ["ros2-examples"]
+
 [[example]]
 name = "python-operator-dataflow"
 path = "examples/python-operator-dataflow/run.rs"

apis/python/node/src/lib.rs

@@ -106,7 +106,10 @@ impl Node {
         pythonize::pythonize(py, self.node.dataflow_descriptor())
     }
 
-    pub fn merge_ros2_events(&mut self, subscription: &mut Ros2Subscription) -> eyre::Result<()> {
+    pub fn merge_external_events(
+        &mut self,
+        subscription: &mut Ros2Subscription,
+    ) -> eyre::Result<()> {
         let subscription = subscription.into_stream()?;
         let stream = futures::stream::poll_fn(move |cx| {
             let s = subscription.as_stream().map(|item| {

libraries/extensions/ros2-bridge/examples/python-ros2-dataflow/control_node.py → examples/python-ros2-dataflow/control_node.py

@@ -2,7 +2,7 @@
 # -*- coding: utf-8 -*-
 
 import random
-from dora_ros2_bridge import Node
+from dora import Node
 import pyarrow as pa
 
 node = Node()

libraries/extensions/ros2-bridge/examples/python-ros2-dataflow/random_turtle.py → examples/python-ros2-dataflow/random_turtle.py

@@ -1,14 +1,14 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
-import time, random
-from dora_ros2_bridge import *
+import time, random, dora
+from dora import Node
 import pyarrow as pa
 
-context = Ros2Context()
-node = context.new_node("turtle_teleop", "/ros2_demo", Ros2NodeOptions(rosout=True))
+context = dora.experimental.ros2_bridge.Ros2Context()
+node = context.new_node("turtle_teleop", "/ros2_demo", dora.experimental.ros2_bridge.Ros2NodeOptions(rosout=True))
 
-topic_qos = Ros2QosPolicies(reliable=True, max_blocking_time=0.1)
+topic_qos = dora.experimental.ros2_bridge.Ros2QosPolicies(reliable=True, max_blocking_time=0.1)
 
 turtle_twist_topic = node.create_topic(
     "/turtle1/cmd_vel", "geometry_msgs::Twist", topic_qos
@@ -16,7 +16,7 @@ turtle_twist_topic = node.create_topic(
 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_stream(turtle_pose_topic)
+pose_reader = node.create_subscription(turtle_pose_topic)
 
 dora_node = Node()
 dora_node.merge_external_events(pose_reader)

libraries/extensions/ros2-bridge/examples/python-ros2-dataflow/run.rs → examples/python-ros2-dataflow/run.rs

@@ -14,7 +14,9 @@ async fn main() -> eyre::Result<()> {
     std::env::set_current_dir(root.join(file!()).parent().unwrap())
         .wrap_err("failed to set working dir")?;
 
-    run(&["python3", "-m", "venv", "../.env"], None).await?;
+    run(&["python3", "-m", "venv", "../.env"], None)
+        .await
+        .context("failed to create venv")?;
     let venv = &root.join("examples").join(".env");
     std::env::set_var(
         "VIRTUAL_ENV",
@@ -32,10 +34,19 @@ async fn main() -> eyre::Result<()> {
         ),
     );
 
-    run(&["pip", "install", "--upgrade", "pip"], None).await?;
-    run(&["pip", "install", "-r", "requirements.txt"], None).await?;
+    run(&["pip", "install", "--upgrade", "pip"], None)
+        .await
+        .context("failed to install pip")?;
+    run(&["pip", "install", "-r", "requirements.txt"], None)
+        .await
+        .context("pip install failed")?;
 
-    run(&["maturin", "develop"], Some(&root.join("python"))).await?;
+    run(
+        &["maturin", "develop"],
+        Some(&root.join("apis").join("python").join("node")),
+    )
+    .await
+    .context("maturin develop failed")?;
 
     let dataflow = Path::new("dataflow.yml");
     dora_daemon::Daemon::run_dataflow(dataflow).await?;

libraries/extensions/ros2-bridge/Cargo.toml

@@ -33,8 +33,3 @@ futures = { version = "0.3.28", default-features = false }
 name = "random_turtle"
 path = "examples/rust-standalone-bridge/random_turtle.rs"
 required-features = ["ros2-examples"]
-
-[[example]]
-name = "python-ros2-dataflow"
-path = "examples/python-ros2-dataflow/run.rs"
-required-features = ["ros2-examples"]

libraries/extensions/ros2-bridge/python/README.md

@@ -1,11 +0,0 @@
-
-## Building
-
-To build the Python module for development:
-
-````bash
-python3 -m venv .env
-source .env/bin/activate
-pip install maturin
-maturin develop
-````