From 86446dc8a58a65d1a02aac130d03a4103ac15edc Mon Sep 17 00:00:00 2001
From: JafarAbdi <jafar.uruc@gmail.com>
Date: Wed, 13 Nov 2024 21:49:32 +0000
Subject: [PATCH] Use py_binding_tools

---
 CMakeLists.txt                              | 4 +++-
 package.xml                                 | 1 +
 python/examples/moveit_visual_tools_demo.py | 8 +++++---
 python/src/moveit_visual_tools.cpp          | 7 +++----
 4 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 10d82cf..af08016 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -107,11 +107,12 @@ endif()
 find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
 find_package(pybind11_vendor REQUIRED)
 find_package(pybind11 REQUIRED)
+find_package(py_binding_tools REQUIRED)
 
 ament_python_install_package(moveit_visual_tools PACKAGE_DIR python/moveit_visual_tools)
 
 pybind11_add_module(pymoveit_visual_tools python/src/moveit_visual_tools.cpp)
-target_link_libraries(pymoveit_visual_tools PUBLIC moveit_visual_tools)
+target_link_libraries(pymoveit_visual_tools PUBLIC moveit_visual_tools py_binding_tools::py_binding_tools)
 ament_target_dependencies(pymoveit_visual_tools PUBLIC pybind11 rviz_visual_tools)
 install(TARGETS pymoveit_visual_tools
         LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}/moveit_visual_tools)
@@ -119,5 +120,6 @@ install(PROGRAMS
   python/examples/moveit_visual_tools_demo.py
   DESTINATION lib/${PROJECT_NAME}
 )
+ament_export_dependencies(py_binding_tools)
 
 ament_package()
diff --git a/package.xml b/package.xml
index 2057040..a14a6e3 100644
--- a/package.xml
+++ b/package.xml
@@ -28,6 +28,7 @@
   <depend>tf2_ros</depend>
   <depend>trajectory_msgs</depend>
   <depend>visualization_msgs</depend>
+  <depend>py_binding_tools</depend>
 
   <build_depend>pybind11_vendor</build_depend>
 
diff --git a/python/examples/moveit_visual_tools_demo.py b/python/examples/moveit_visual_tools_demo.py
index 7815d62..00eb0eb 100755
--- a/python/examples/moveit_visual_tools_demo.py
+++ b/python/examples/moveit_visual_tools_demo.py
@@ -2,6 +2,7 @@
 
 import moveit_visual_tools as mvt
 import rviz_visual_tools as rvt
+import rclcpp
 import sys
 import time
 from rclpy import logging
@@ -13,12 +14,11 @@
 
 from geometry_msgs.msg import Pose, Point, Quaternion
 
-rvt.init()
+rclcpp.init()
 
 PLANNING_GROUP_NAME = "arm"
 
-node = rvt.RvizVisualToolsNode("moveit_visual_tools_demo")
-node.start_spin_thread()
+node = rclcpp.Node("moveit_visual_tools_demo")
 visual_tools = mvt.MoveItVisualTools(node, "world", "/moveit_visual_tools")
 visual_tools.load_planning_scene_monitor()
 visual_tools.load_marker_publisher(True)
@@ -129,3 +129,5 @@
     cylinder_pose.position.x += 0.1 + i
     visual_tools.trigger_planning_scene_update()
 time.sleep(1.0)
+
+rclcpp.shutdown()
diff --git a/python/src/moveit_visual_tools.cpp b/python/src/moveit_visual_tools.cpp
index 44cde2a..42b4648 100644
--- a/python/src/moveit_visual_tools.cpp
+++ b/python/src/moveit_visual_tools.cpp
@@ -3,7 +3,7 @@
 #include <pybind11/stl.h>
 #include <rviz_visual_tools/rviz_visual_tools.hpp>
 #include <moveit_visual_tools/moveit_visual_tools.h>
-#include <rviz_visual_tools/binding_utils.hpp>
+#include <py_binding_tools/ros_msg_typecasters.h>
 
 namespace py = pybind11;
 using py::literals::operator""_a;
@@ -18,9 +18,8 @@ PYBIND11_MODULE(pymoveit_visual_tools, m)
   py::module::import("moveit.core.planning_scene");
 
   py::class_<MoveItVisualTools, rviz_visual_tools::RvizVisualTools>(m, "MoveItVisualTools")
-      .def(py::init(
-          [](const rviz_visual_tools::RvizVisualToolsNode::SharedPtr& node) { return MoveItVisualTools(node); }))
-      .def(py::init([](const rviz_visual_tools::RvizVisualToolsNode::SharedPtr& node, const std::string& base_frame,
+      .def(py::init([](const rclcpp::Node::SharedPtr& node) { return MoveItVisualTools(node); }))
+      .def(py::init([](const rclcpp::Node::SharedPtr& node, const std::string& base_frame,
                        const std::string& marker_topic) { return MoveItVisualTools(node, base_frame, marker_topic); }),
            "node"_a, "base_frame"_a, "marker_topic"_a = rviz_visual_tools::RVIZ_MARKER_TOPIC)
       .def("set_robot_state_topic", &MoveItVisualTools::setRobotStateTopic)