dca739930e
* feat: enhance aimrt_py with ROS2 support and modularize functionality - Added support for ROS2 message types in aimrt_py, improving interoperability with ROS2 systems. - Introduced new module aimrt_python_runtime_ros2 for ROS2-specific functionalities, including publishing, subscribing, and RPC handling. - Updated existing files to integrate ROS2 capabilities, ensuring seamless interaction between ROS1 and ROS2 message types. - Enhanced CMake configuration to conditionally include ROS2 components based on build settings. - Improved code organization by separating ROS2-related functionalities into dedicated headers and source files for better maintainability. * chore: update .gitignore and refactor example scripts for improved clarity and organization - Added 'test_log/' to .gitignore to exclude test log files from version control. - Removed obsolete 'py_tests.py' file to streamline the test structure. - Enhanced logging messages in ROS2 subscriber and RPC server applications for better context clarity. - Updated expected output definitions in utility files to reflect new message structures and improve consistency. - Refactored example runner script to correct directory path handling and improve readability. - Added new example configurations for ROS2 channels and RPC interactions, enhancing the testing framework. * refactor: remove unused import from python_runtime initialization - Eliminated the import of aimrt_python_runtime_ros2 from the __init__.py file in the python_runtime module to streamline the code and improve clarity. * refactor: streamline ROS2 import structure and enhance CMake configuration - Removed direct import of aimrt_python_runtime_ros2 in favor of aliasing for clarity in aimrt_py_chn.py. - Updated CMakeLists.txt to conditionally add dependencies for ROS2 components, improving build flexibility. - Adjusted ROS2 service generation script to utilize the aliased import for better readability and maintainability. * feat: add support for additional ROS2 example script - Introduced a new subprocess call in `run_all_example.py` to execute the `build_examples_py_ros2_rpc.sh` script, enhancing the example runner's capabilities for ROS2 RPC interactions. - This addition allows for better demonstration and testing of ROS2 functionalities within the example framework. * format code
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AimRT
Full project details on aimrt.org。
Brief
- AimRT is a basic runtime framework for the field of modern robotics. It is developed based on modern C++, is lightweight and easy to deploy, and has more modern designs in resource management and control, asynchronous programming, deployment configuration, etc.
- AimRT is committed to integrating the research and development of various deployment scenarios such as robot end-side, edge end, and cloud. It serves modern AI- and cloud-based robot applications and provides modern and complete debugging and performance analysis tools, as well as good observability support.
- AimRT also provides a comprehensive plug-in development interface, which is highly scalable and compatible with ROS2, HTTP, Grpc and other traditional robot ecosystems or cloud service ecosystems, and supports progressive upgrades of your existing systems.