https://github.com/moveit/py_binding_tools

Python binding tools for C++
https://github.com/moveit/py_binding_tools

Last synced: 4 days ago
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Python binding tools for C++

• Host: GitHub
• URL: https://github.com/moveit/py_binding_tools
• Owner: moveit
• License: bsd-3-clause
• Created: 2024-03-05T15:27:59.000Z (10 months ago)
• Default Branch: main
• Last Pushed: 2024-12-19T08:52:47.000Z (17 days ago)
• Last Synced: 2024-12-19T09:26:50.985Z (17 days ago)
• Language: C++
• Size: 34.2 KB
• Stars: 1
• Watchers: 16
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.rst
  • License: LICENSE.txt

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README

        
## Python binding tools for C++

This package provides some tools to facilitate the generation of python bindings for C++ code, based on [pybind11](https://github.com/pybind/pybind11).

### Automatic type conversion for ROS message types

Conversion between native C++ and python types is performed via ROS message serialization and deserialization, which is implemented via C++ templates. It suffices to include:

```cpp

#include 

```

The `PoseStamped` message from the `geometry_msgs` package also accepts a single string as an argument.

In this case, the string is interpreted as the `header.frame_id` field of the message and the pose becomes the identity transform. To use this extension, include the following header instead:

```cpp

#include 

```

### C++ ROS initialization

C++ and Python use their own ROS implementations (`rospy` and `roscpp`).

Thus, it is necessary to initialize ROS in the C++ domain additionally to the Python domain before calling any ROS-related functions from wrapped C++ functions or classes.

To this end, the package provides the python function `roscpp_init()` and the C++ class `ROScppInitializer`. The latter is intended to be used as a base class for your python wrapper classes:

```cpp

class FooWrapper : protected ROScppInitializer, public Foo {

	// ...

};

```

to ensure that the ROS infrastructure is initialized before usage in the wrapped C++ class. Ensure to list `ROScppInitializer` as the _first_ base class, if ROS functionality is required in the constructor already!

`ROScppInitializer` registers an anonymous C++ ROS node named `python_wrapper_xxx`. If you need a specific node name or if you want to pass remappings, use the manual initialization function `roscpp_init(name="", remappings={}, options=0)` instead, which effectively calls `ros::init` with the given arguments. Note, that an empty name will map to the above-mentioned node name `python_wrapper_xxx`.