initial commit

node-hub/dora-ros2-jointstate/dora_ros2_jointstate/main.py

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+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+import dora
+from dora import Node
+
+ros2_context = dora.Ros2Context()
+ros2_node = ros2_context.new_node(
+    "dora",  # name
+    "/piper",  # namespace
+    dora.Ros2NodeOptions(rosout=True),
+)
+
+# Define a ROS2 QOS
+topic_qos = dora.Ros2QosPolicies(reliable=True, max_blocking_time=0.1)
+
+# Create a listener to pose topic
+turtle_pose_topic = ros2_node.create_topic(
+    "/puppet/joint_left", "sensor_msgs/JointState", 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)
+
+while True:
+    event = dora_node.next()
+    if event is None:
+        break
+    match event["kind"]:
+
+        # In this case ROS2 event
+        case "external":
+            pose = event["value"][0].as_py()
+            dora_node.send_output("/puppet/joint_left", event["value"])