[ROS 2]: Add Python bindings

[JafarAbdi]

Doesn't include the imarker_simple & tf_visual_tools

[JafarAbdi]

I'm adding python binding support for https://github.com/ros-planning/moveit_visual_tools, too! I think we should wait till that one is open before merging this

[codecov]

Codecov Report

Merging #239 (648da88) into ros2 (4fe7735) will not change coverage.
The diff coverage is n/a.

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  Coverage   19.77%   19.77%           
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  Files           5        5           
  Lines        1795     1795           
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  Misses       1440     1440           

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[MarqRazz]

Your amazing @JafarAbdi! Great work!!

So I'm testing with my Isaac Moveit Tutorials container with FastDDS and I can run the CPP version but when I run the python one all of the markers are not displayed.

My guess is that it's publishing them to fast and so some of the messages are getting dropped. It would also be nice if the program printed the same messages that the cpp one does...

[INFO] [1685366840.171581769] [rviz_demo]: Visual Tools Demo
[INFO] [1685366840.182038056] [rviz_demo.remote_control]: RemoteControl Ready.
[INFO] [1685366840.182133101] [rviz_demo.remote_control]: Waiting to continue: Click 'Next' using the RvizVisualToolsGui dashboard!
[INFO] [1685366843.289869795] [rviz_demo.remote_control]: ... continuing
[INFO] [1685366843.289923438] [rviz_demo]: Displaying range of colors red->green
[INFO] [1685366843.290541635] [rviz_demo]: Displaying Coordinate Axis
[INFO] [1685366843.294327666] [rviz_demo]: Displaying Arrows
[INFO] [1685366843.294759165] [rviz_demo]: Displaying Rectangular Cuboid
[INFO] [1685366843.294861810] [rviz_demo]: Displaying Lines
[INFO] [1685366843.294977992] [rviz_demo]: Displaying Cylinder
[INFO] [1685366843.295385687] [rviz_demo]: Displaying Axis Cone
[INFO] [1685366843.296057292] [rviz_demo]: Displaying Wireframe Cuboid
[INFO] [1685366843.296528497] [rviz_demo]: Displaying Sized Wireframe Cuboid
[INFO] [1685366843.296853348] [rviz_demo]: Displaying Planes
[INFO] [1685366843.296942797] [rviz_demo]: Displaying Labeled Coordinate Axis
[INFO] [1685366843.297532080] [rviz_demo]: Displaying Multi-Color Path
[INFO] [1685366843.298282520] [rviz_demo]: Displaying ABCD Plane
[INFO] [1685366843.299060577] [rviz_demo]: Testing sizes of marker scale
[INFO] [1685366843.299182731] [rviz_demo]: Shutting down.

And a cherry on top if it subscribed to the GUI panel and asked the user to press next.

def rviz_viz_tools_gui_callback(self, msg: Joy):
        """
        Callback for the rviz_visual_tools_gui that checks if "Next" was pressed.
        """
        if msg.buttons[1] == 1:  # The Next button
            self.next_ = True

[JafarAbdi]

So I'm testing with my Isaac Moveit Tutorials container with FastDDS and I can run the CPP version but when I run the python one all of the markers are not displayed.

My guess is that it's publishing them to fast and so some of the messages are getting dropped. It would also be nice if the program printed the same messages that the cpp one does...

Thanks for testing! I think that's expected, the demos aren't the same, I was so lazy to port the whole demo to python :D :D

[MarqRazz]

If your busy lets just add a single print to the program saying it sent the markers for display. Right now the program just returns without letting the user know anything.

[JafarAbdi]

If your busy lets just add a single print to the program saying it sent the markers for display. Right now the program just returns without letting the user know anything.

Should be fixed now

[MarqRazz]

Thanks for adding the info messages back into the console. I tested again and it's working great!

[MarqRazz]

Can we add a note here and in the README that the python demo shows a smaller example of the displayable shapes (compared to the cpp version) in Rviz so users don't think it's missing stuff.