ros server class bindings

Author: alaurenzi

bindings/python/pyRosImpl.cpp

@@ -45,14 +45,14 @@ PYBIND11_MODULE(pyci, m) {
             .def("getBounds", &ProblemDescription::getBounds)
             ;
 
-//     py::class_<RosServerClass>(m, "RosServerClass")
-//             .def(py::init(&make_ros_server_class),
-//                  py::arg("ci"),
-//                  py::arg("ros_namespace") = "cartesian",
-//                  py::arg("tf_prefix") = "ci",
-//                  py::arg("publish_tf") = true)
-//             .def("run", &RosServerClass::run)
-//             ;
+    py::class_<RosServerClass>(m, "RosServerClass")
+            .def(py::init(&make_ros_server_class),
+                 py::arg("ci"),
+                 py::arg("ros_namespace") = "cartesian",
+                 py::arg("tf_prefix") = "ci",
+                 py::arg("publish_tf") = true)
+            .def("run", &RosServerClass::run)
+            ;
 
 
     py::class_<TaskDescription,

bindings/python/pyRosImpl.h

@@ -34,19 +34,19 @@ CartesianInterfaceImpl::Ptr make_ci(std::string solver_name,
 
 }
 
-// RosServerClass::UniquePtr make_ros_server_class(
-//         CartesianInterfaceImpl::Ptr ci,
-//         std::string ros_namespace,
-//         std::string tf_prefix,
-//         bool publish_tf)
-// {
-//     RosServerClass::Options opt;
-//     opt.ros_namespace = ros_namespace;
-//     opt.tf_prefix = tf_prefix;
-//     opt.publish_tf = publish_tf;
+RosServerClass::UniquePtr make_ros_server_class(
+        CartesianInterfaceImpl::Ptr ci,
+        std::string ros_namespace,
+        std::string tf_prefix,
+        bool publish_tf)
+{
+    RosServerClass::Options opt;
+    opt.ros_namespace = ros_namespace;
+    opt.tf_prefix = tf_prefix;
+    opt.publish_tf = publish_tf;
 
-//     return std::make_unique<RosServerClass>(ci, opt);
-// }
+    return std::make_unique<RosServerClass>(ci, opt);
+}
 
 auto pb_get_task_id(const ProblemDescription& self,
                  int id)