feat: Add Dora-kit car Control in node-hub

[LyonRust]

Added a control node for chongyoucar to receive text commands, 'forward' 'left' 'right' 'backward' and 'stop' to control the car's forward turning and backward stopping etc.

Author: Leon [email protected]

[haixuanTao]

To make this release easy to install. We can push a prebuilt version on pip.

I can help with it, or you can try on your own.

The idea is that you need a:

• pyproject.toml like the following: https://github.com/dora-rs/dora/blob/f447dec976a8a8abaa13450ec86275879c6d6431/node-hub/dora-rerun/pyproject.toml
• Add at the end of your Cargo.toml

pyo3 = { workspace = true, features = [
    "extension-module",
    "abi3",
], optional = true }


[lib]
name = "dora_chongyoucar"
path = "src/lib.rs"
crate-type = ["lib", "cdylib"]

• Split your crate into a main.rs and a lib.rs
• Make sure your main.rs look like this: https://github.com/dora-rs/dora/blob/f447dec976a8a8abaa13450ec86275879c6d6431/node-hub/dora-rerun/src/main.rs

fn main() -> Result<(), eyre::Error> {
    dora_rerun::lib_main()
}

• Make sure your lib.rs contains this: https://github.com/dora-rs/dora/blob/f447dec976a8a8abaa13450ec86275879c6d6431/node-hub/dora-rerun/src/lib.rs

#[cfg(feature = "python")]
use pyo3::{
    pyfunction, pymodule,
    types::{PyModule, PyModuleMethods},
    wrap_pyfunction, Bound, PyResult, Python,
};

#[cfg(feature = "python")]
#[pyfunction]
fn py_main(_py: Python) -> PyResult<()> {
    pyo3::prepare_freethreaded_python();
    lib_main().map_err(|e| pyo3::exceptions::PyException::new_err(e.to_string()))
}

/// A Python module implemented in Rust.
#[cfg(feature = "python")]
#[pymodule]
fn dora_rerun(_py: Python, m: Bound<'_, PyModule>) -> PyResult<()> {
    m.add_function(wrap_pyfunction!(py_main, &m)?)?;
    Ok(())
}

And that's it.

Publishing on pip making it super easy for people to just:
pip install your project on multiple platform from macos to linux.

You can try an example with pip install dora-rerun

[haixuanTao]

Looks great!

[haixuanTao]

Can we use a float64 array as input instead of string so that it's easier to configure later.

It's also a more scientific representation of the action.

[LyonRust]

ok, I'll readjust the technical program.

[haixuanTao]

Let's remove comments.

[haixuanTao]

I don't think we should use json. It's going to make the whole process slower and more difficult to interpolate with other components.

Can it just be something in the likes of:

let float64array = [x, y, rz, speed] 

[haixuanTao]

Or even better, I think if we can have something in the likes of

let float64array = [x, y, z, rx, ry, rz] // For position control and speed within the metadata HashMap

Following http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Twist.html

You can ignore z, rx, ry.

[LyonRust]

That's great

[haixuanTao]

What is the status of this?

Can we make the requested change?

It would be great if we have short lived PR

[LyonRust]

Accepts an array of six f64's

• six f64 array [x, y, z, rx, ry, rz] only used x and rz

[haixuanTao]

Sorry forgot to finish the review.

Could we double check for the name of this package. Is chongyou-car really the name we want to use?

[haixuanTao]

Can we make this error more descriptive. Can we add the serial port used?

[LyonRust]

This is mainly for the dora-kit car, or you could even call it the dora-kit-car. Got any better name ideas?

[haixuanTao]

That might be better yes