Modified pybind components to conform to previous binds

Signed-off-by: Aaron Chong <[email protected]>
RobotLocomotion · Apr 21, 2022 · 2a23ddb · 2a23ddb
1 parent ec8663d
commit 2a23ddb
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Showing 2 changed files with 21 additions and 16 deletions.
diff --git a/drake_ros_viz/CMakeLists.txt b/drake_ros_viz/CMakeLists.txt
@@ -74,7 +74,7 @@ install(
 # Python bindings
 ###
 pybind11_add_module(py_drake_ros_viz SHARED
-  src/python_bindings/module_drake_ros_viz.cpp
+  src/python_bindings/drake_ros_viz.cc
 )
 set_target_properties(py_drake_ros_viz PROPERTIES OUTPUT_NAME "drake_ros_viz")
 target_link_libraries(py_drake_ros_viz PRIVATE drake_ros_viz)
@@ -84,11 +84,11 @@ target_include_directories(py_drake_ros_viz
 )
 
 # Sets PYTHON_INSTALL_DIR
-_ament_cmake_python_get_python_install_dir()
+ament_get_python_install_dir(python_install_dir)
 
 install(
   TARGETS py_drake_ros_viz
-  DESTINATION "${PYTHON_INSTALL_DIR}"
+  DESTINATION "${python_install_dir}"
 )
 ### End Python bindings
 

diff --git a/.../python_bindings/module_drake_ros_viz.cpp → ..._viz/src/python_bindings/drake_ros_viz.cc b/.../python_bindings/module_drake_ros_viz.cpp → ..._viz/src/python_bindings/drake_ros_viz.cc
@@ -13,17 +13,19 @@
 // limitations under the License.
 #include <memory>
 
-#include "drake_ros_viz/rviz_visualizer.hpp"
-#include <drake/systems/framework/leaf_system.h>
+#include "drake_ros_core/drake_ros.h"
+#include <drake/systems/framework/diagram.h>
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
+#include "drake_ros_viz/rviz_visualizer.h"
+
 namespace py = pybind11;
 
 using drake::systems::Diagram;
 using drake::systems::TriggerType;
 
-using drake_ros_core::DrakeRosInterface;
+using drake_ros_core::DrakeRos;
 using drake_ros_viz::RvizVisualizer;
 using drake_ros_viz::RvizVisualizerParams;
 
@@ -34,23 +36,26 @@ PYBIND11_MODULE(drake_ros_viz, m) {
   py::module::import("pydrake.systems.framework");
   py::module::import("pydrake.multibody.plant");
 
+  const RvizVisualizerParams default_params{};
   py::class_<RvizVisualizerParams>(m, "RvizVisualizerParams")
-      .def(py::init([](py::kwargs kwargs) {
-        RvizVisualizerParams obj{};
-        py::object pyobj = py::cast(&obj, py::return_value_policy::reference);
-        for (auto& item : kwargs) {
-          py::setattr(pyobj, item.first, item.second);
-        }
-        return obj;
-      }))
+      .def(py::init([](const std::unordered_set<drake::systems::TriggerType>&
+                           publish_triggers,
+                       double publish_period, bool publish_tf) {
+             return RvizVisualizerParams{publish_triggers, publish_period,
+                                         publish_tf};
+           }),
+           py::kw_only(),
+           py::arg("publish_triggers") = default_params.publish_triggers,
+           py::arg("publish_period") = default_params.publish_period,
+           py::arg("publish_tf") = default_params.publish_tf)
       .def_readwrite("publish_triggers",
                      &RvizVisualizerParams::publish_triggers)
       .def_readwrite("publish_period", &RvizVisualizerParams::publish_period)
       .def_readwrite("publish_tf", &RvizVisualizerParams::publish_tf);
 
   py::class_<RvizVisualizer, Diagram<double>>(m, "RvizVisualizer")
-      .def(py::init<std::shared_ptr<DrakeRosInterface>, RvizVisualizerParams>(),
-           py::arg("ros_interface"), py::arg("params") = RvizVisualizerParams{})
+      .def(py::init<DrakeRos*, RvizVisualizerParams>(), py::arg("ros"),
+           py::arg("params") = RvizVisualizerParams{})
       .def("RegisterMultibodyPlant", &RvizVisualizer::RegisterMultibodyPlant)
       .def("get_graph_query_port", &RvizVisualizer::get_graph_query_port,
            py::return_value_policy::reference_internal);