Verify works on Windows

setup.py

@@ -32,7 +32,7 @@
 
 setup(
     name="zeroros",
-    version="1.0.0",
+    version="1.0.1",
     description="ZeroROS middleware",
     long_description=long_description,
     long_description_content_type="text/markdown",

src/zeroros/__init__.py

@@ -0,0 +1,5 @@
+""" ZeroROS package. """
+from .publisher import Publisher  # noqa: F401
+from .subscriber import Subscriber  # noqa: F401
+from .message_broker import MessageBroker  # noqa: F401
+from .datalogger import DataLogger  # noqa: F401

src/zeroros/message_broker.py

@@ -3,10 +3,13 @@
 import zmq
 
 
+
+
 class MessageBroker:
     def __init__(self):
         # gather list of topics from pub/subs
         self.topics = {}
+        self.context = None
         # run broker in seperate thread
         self.broker_thread = threading.Thread(target=self.config_broker)
         self.broker_thread.start()
@@ -16,9 +19,9 @@ def config_broker(self):
         # https://zguide.zeromq.org/docs/chapter2/#The-Dynamic-Discovery-Problem
         self.context = zmq.Context()
         frontend = self.context.socket(zmq.XSUB)
-        frontend.bind("tcp://127.0.0.1:5559")
+        frontend.bind("tcp://127.0.0.1:5555")
         backend = self.context.socket(zmq.XPUB)
-        backend.bind("tcp://127.0.0.1:5560")
+        backend.bind("tcp://127.0.0.1:5556")
 
         # built-in pub/sub fowarder
         zmq.proxy(frontend, backend)

src/zeroros/messages/__init__.py

@@ -1,2 +1,20 @@
+"""This module contains all the messages that are used in ZeroROS."""
+
+
 class Message:
-    pass
+    """Empty base class for all messages."""
+
+
+from .geometry_msgs import (
+    Vector3,
+    Vector3Stamped,
+    Twist,
+    Quaternion,
+    Pose,
+    PoseStamped,
+    PoseWithCovariance,
+    TwistWithCovariance,
+)  # noqa: F401
+from .sensor_msgs import LaserScan  # noqa: F401
+from .nav_msgs import Odometry, Path  # noqa: F401
+from .std_msgs import Header, String, Int, Float, Bool  # noqa: F401

src/zeroros/messages/geometry_msgs.py

@@ -71,6 +71,25 @@ def __str__(self):
             self.x, self.y, self.z, self.w
         )
 
+    def from_euler(self, roll: float, pitch: float, yaw: float):
+        cy = np.cos(yaw * 0.5)
+        sy = np.sin(yaw * 0.5)
+        cp = np.cos(pitch * 0.5)
+        sp = np.sin(pitch * 0.5)
+        cr = np.cos(roll * 0.5)
+        sr = np.sin(roll * 0.5)
+
+        self.w = cy * cp * cr + sy * sp * sr
+        self.x = cy * cp * sr - sy * sp * cr
+        self.y = sy * cp * sr + cy * sp * cr
+        self.z = sy * cp * cr - cy * sp * sr
+
+    def to_euler(self):
+        roll = np.arctan2(2.0 * (self.w * self.x + self.y * self.z), 1.0 - 2.0 * (self.x * self.x + self.y * self.y))
+        pitch = np.arcsin(2.0 * (self.w * self.y - self.z * self.x))
+        yaw = np.arctan2(2.0 * (self.w * self.z + self.x * self.y), 1.0 - 2.0 * (self.y * self.y + self.z * self.z))
+        return roll, pitch, yaw
+
     def to_json(self):
         return {"x": self.x, "y": self.y, "z": self.z, "w": self.w}
 

src/zeroros/publisher.py

@@ -13,7 +13,7 @@ def __init__(
         topic: str,
         message_class: type[Message],
         ip: str = "127.0.0.1",
-        port: int = 5559,
+        port: int = 5555,
     ):
         print("Creating publisher for topic: ", topic)
         self.topic = validate_topic(topic)

src/zeroros/subscriber.py

@@ -17,7 +17,7 @@ def __init__(
         message_class: type[Message],
         callback_handle: callable,
         ip: str = "127.0.0.1",
-        port: int = 5560,
+        port: int = 5556,
     ):
         self.ip = ip
         self.port = port