Repository files navigation

This is a little similar implementation ofgenpy for uPy. In order to use rosserial with it, having messages classes. For that and automation purposes, this package has been done so that this classes can be done easily. This has been done to be used withuPy rosserial.

• uPy files gen with publish availability
• uPy files gen with subscribe availability
• Services

In order to use this package the folderugenpy fromsrc must be copied to the flash memory. I strongly recommend usingrshell for this task.

There is also a folder calledstd_msgs which has all default*.msg files, this folder can also be copied or any other folder with the wanted message types. For memory purposes not all themsg files in that folder must be copied, only the ones that are going to be used.

You can also installugenpy with upip but have in mind the.msg files must be copied, located in the corresponding dir:

importupipimportnetworkfromtimeimportsleepwlan=network.WLAN(network.STA_IF)wlan.active(True)wlan.connect('<ssid>','<password>')sleep(5)upip.install('micropython-genpy')

Note: To use upip you must be connected to WiFi and the files with std_msgs dir must be included manually.

Suppose there is already the dirstd_msgs/ColorRGB.msg and we want to create the uPy file for it, then a script like below can be run:

fromugenpy.messageimportMessageGeneratormsg=MessageGenerator('std_msgs/ColorRGBA.msg')msg.create_message()

You could verify it has been created with the following:

importosos.listdir('std_msgs')

Class responsible of writing the*.py script and message class from*.msg.

• addr: address where the.msg file is located inside the microcontroller.

Creates the message from the address already defined in constructor.