Merge pull request #450 from gazebosim/voldivh/python_tutorial

Adds the python bindings tutorial

python/examples/publisher.py

@@ -13,9 +13,9 @@
 # limitations under the License.
 #
 
+#! [complete]
 from gz.msgs10.stringmsg_pb2 import StringMsg
 from gz.msgs10.vector3d_pb2 import Vector3d
-from gz.transport13 import AdvertiseMessageOptions
 from gz.transport13 import Node
 
 import time
@@ -39,16 +39,18 @@ def main():
         while True:
           count += 1
           vector3d_msg.x = count
-          if not (pub_stringmsg.publish(stringmsg_msg) or pub_vector3d.publish(vector3d_msg)):
+          if not pub_stringmsg.publish(stringmsg_msg):
               break
-
           print("Publishing 'Hello' on topic [{}]".format(stringmsg_topic))
+          if not pub_vector3d.publish(vector3d_msg):
+              break
           print("Publishing a Vector3d on topic [{}]".format(vector3d_topic))
           time.sleep(0.1)
 
     except KeyboardInterrupt:
         pass
 
+#! [complete]
 
 if __name__ == "__main__":
     main()

python/examples/requester.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 #
 
+#! [complete]
 from gz.msgs10.stringmsg_pb2 import StringMsg
 from gz.transport13 import Node
 
@@ -27,5 +28,7 @@ def main():
     result, response = node.request(service_name, request, StringMsg, StringMsg, timeout)
     print("Result:", result, "\nResponse:", response.data)
 
+#! [complete]
+
 if __name__ == "__main__":
     main()

python/examples/subscriber.py

@@ -13,9 +13,9 @@
 # limitations under the License.
 #
 
+#! [complete]
 from gz.msgs10.stringmsg_pb2 import StringMsg
 from gz.msgs10.vector3d_pb2 import Vector3d
-from gz.transport13 import SubscribeOptions
 from gz.transport13 import Node
 
 import time
@@ -56,5 +56,7 @@ def main():
       pass
     print("Done")
 
+#! [complete]
+
 if __name__ == "__main__":
     main()

python/src/transport/_gz_transport_pybind11.cc

@@ -186,7 +186,7 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
 
     py::class_<TopicStatistics>(
       m, "TopicStatistics",
-      "This class encapsulates statistics for a single topic..")
+      "This class encapsulates statistics for a single topic.")
       .def(py::init<>());
 
     auto node = py::class_<Node>(m, "Node",

tutorials/01_intro.md

@@ -20,5 +20,5 @@ combination of custom code and [ZeroMQ] (http://zeromq.org/).
 
 ## What programming language can I use with Gazebo Transport?
 
-C++ is the native implementation and so far the only way to use the library.
-We hope to offer different wrappers for the most popular languages in the future.
+C++ is the native implementation and the only language that has all available library features.
+Python implementation is a wrapper around C++ methods using `pybind11`. It does not support all features like C++, but contains the main features such as publication, subscription and service request.

tutorials/05_services.md

@@ -1,6 +1,6 @@
 \page services Services
 
-Next Tutorial: \ref security
+Next Tutorial: \ref python
 Previous Tutorial: \ref messages
 
 ## Overview