From d0d42f9d9ff9345ea66603bdd594fff1df7df80f Mon Sep 17 00:00:00 2001
From: haixuanTao <tao.xavier@outlook.com>
Date: Tue, 5 Sep 2023 11:11:07 +0200
Subject: [PATCH] Use struct type instead of array for ros2 messages

---
 examples/python-ros2-dataflow/control_node.py | 12 ++++++---
 .../python-ros2-dataflow/random_turtle.py     | 25 ++-----------------
 2 files changed, 10 insertions(+), 27 deletions(-)

diff --git a/examples/python-ros2-dataflow/control_node.py b/examples/python-ros2-dataflow/control_node.py
index 15ec4bdd..0ce47943 100755
--- a/examples/python-ros2-dataflow/control_node.py
+++ b/examples/python-ros2-dataflow/control_node.py
@@ -18,10 +18,14 @@ for i in range(500):
                     f"""Pose: {event["value"]}""".replace("\r", "").replace("\n", " ")
                 )
             case "tick":
+                direction = {
+                    "linear": {
+                        "x": 1.0,
+                    },
+                    "angular": {"z": 1.0},
+                }
+
                 node.send_output(
                     "direction",
-                    pa.array(
-                        [random.random() + 1, 0, 0, 0, 0, (random.random() - 0.5) * 5],
-                        type=pa.float64(),
-                    ),
+                    pa.array([direction]),
                 )
diff --git a/examples/python-ros2-dataflow/random_turtle.py b/examples/python-ros2-dataflow/random_turtle.py
index 003c39f9..b95ed87f 100755
--- a/examples/python-ros2-dataflow/random_turtle.py
+++ b/examples/python-ros2-dataflow/random_turtle.py
@@ -42,31 +42,10 @@ for i in range(500):
                 case "INPUT":
                     match event["id"]:
                         case "direction":
-                            direction = {
-                                "linear": {
-                                    "x": event["value"][0],
-                                },
-                                "angular": {
-                                    "z": event["value"][5],
-                                },
-                            }
-
-                            twist_writer.publish(direction)
+                            twist_writer.publish(event["value"])
 
         case "external":
             pose = event.inner()[0].as_py()
 
             assert pose["x"] != 5.544445, "turtle should not be at initial x axis"
-            dora_node.send_output(
-                "turtle_pose",
-                pa.array(
-                    [
-                        pose["x"],
-                        pose["y"],
-                        pose["theta"],
-                        pose["linear_velocity"],
-                        pose["angular_velocity"],
-                    ],
-                    type=pa.float64(),
-                ),
-            )
+            dora_node.send_output("turtle_pose", event.inner())