# py_binding_tools

**Repository Path**: zqeditcode/py_binding_tools

## Basic Information

- **Project Name**: py_binding_tools
- **Description**: moveit 学习
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-15
- **Last Updated**: 2025-12-15

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## Python binding tools for C++

This package provides some tools to facilitate the generation of python bindings for C++ code, based on [pybind11](https://github.com/pybind/pybind11).

### Automatic type conversion for ROS message types

Conversion between native C++ and python types is performed via ROS message serialization and deserialization, which is implemented via C++ templates. It suffices to include:

```cpp
#include <py_binding_tools/ros_msg_typecasters.h>
```

The `PoseStamped` message from the `geometry_msgs` package also accepts a single string as an argument.
In this case, the string is interpreted as the `header.frame_id` field of the message and the pose becomes the identity transform. To use this extension, include the following header instead:

```cpp
#include <py_binding_tools/geometry_msg_typecasters.h>
```

### C++ ROS initialization

C++ and Python use their own ROS implementations (`rospy` and `roscpp`).
Thus, it is necessary to initialize ROS in the C++ domain additionally to the Python domain before calling any ROS-related functions from wrapped C++ functions or classes.
To this end, the package provides the python function `roscpp_init()` and the C++ class `ROScppInitializer`. The latter is intended to be used as a base class for your python wrapper classes:

```cpp
class FooWrapper : protected ROScppInitializer, public Foo {
	// ...
};
```

to ensure that the ROS infrastructure is initialized before usage in the wrapped C++ class. Ensure to list `ROScppInitializer` as the _first_ base class, if ROS functionality is required in the constructor already!

`ROScppInitializer` registers an anonymous C++ ROS node named `python_wrapper_xxx`. If you need a specific node name or if you want to pass remappings, use the manual initialization function `roscpp_init(name="", remappings={}, options=0)` instead, which effectively calls `ros::init` with the given arguments. Note, that an empty name will map to the above-mentioned node name `python_wrapper_xxx`.