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Original rviz2/add-python-bindings branch by @ipa-cmh (https://github.com/ipa-cmh/rviz/tree/add-python-bindings), excluding /rviz_common/visualization_frame changes
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‎rviz_python_bindings/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.17)
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project(rviz_python_bindings)
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set(shiboken_qt_components
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QtCore
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QtGui
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QtWidgets
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)
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(python_qt_binding REQUIRED)
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include(${python_qt_binding_DIR}/shiboken_helper.cmake) #${CMAKE_CURRENT_SOURCE_DIR}/../../python_qt_binding/cmake/shiboken_helper.cmake)#
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find_package(Qt5 REQUIRED COMPONENTS Core Gui Widgets)
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find_package(rviz_common REQUIRED)
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find_package(Python3 COMPONENTS Development)
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# name of the library to be generated by shiboken
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set(shiboken_bindings_library "rviz_shiboken")
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# path to the include wrapper used by shiboken for generation
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set(shiboken_include_wrapper "${CMAKE_CURRENT_SOURCE_DIR}/conf/global.hpp")
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# path to the typesystem file used by shiboken for generation
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set(shiboken_typesystem "${CMAKE_CURRENT_SOURCE_DIR}/conf/typesystem.xml")
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# sources generated by shiboken depends on typesystem
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set(shiboken_generated_sources
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_shiboken_module_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_visualizerframepy_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_yamlconfigreader_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_yamlconfigwriter_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_config_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_config_mapiterator_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_visualizationframe_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_visualizationmanager_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_displaygroup_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_display_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_viewmanager_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_paneldockwidget_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_tool_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_toolmanager_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_properties_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_properties_property_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_properties_boolproperty_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_common_viewcontroller_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_rendering_ogrelogging_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/rviz_rendering_wrapper.cpp
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${CMAKE_CURRENT_BINARY_DIR}/${shiboken_bindings_library}/ogre_wrapper.cpp
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)
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ament_get_recursive_properties(deps_include_dirs _ ${rviz_common_TARGETS})
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list(APPEND shiboken_include_dirs
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${deps_include_dirs})
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message(STATUS "ROS inlcude dirs: ${deps_include_dirs}")
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message(STATUS "QT5 inlcude dirs: ${Qt5Core_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS} ${Qt5Gui_INCLUDE_DIRS}")
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list(APPEND shiboken_include_dirs
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${Qt5Core_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS} ${Qt5Gui_INCLUDE_DIRS}
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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add_library(rviz_python SHARED
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src/visualizer_frame_py.cpp
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)
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target_include_directories(rviz_python PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_compile_options(rviz_python PUBLIC -Wl,--no-undefined)
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ament_target_dependencies(rviz_python
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rviz_common
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Qt5
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)
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install(TARGETS rviz_python
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EXPORT export_rviz_python
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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shiboken_generator_ext(
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"rviz_shiboken" # TARGET
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"${shiboken_include_wrapper}" # INCLUDE WRAPPER
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"${shiboken_typesystem}" # TYPSYSTEM
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"${CMAKE_CURRENT_BINARY_DIR}" # Working Directory
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"${shiboken_generated_sources}" # Generated Sources
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"${shiboken_include_dirs}" # INCLUDE DIRS
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"${CMAKE_CURRENT_BINARY_DIR}" # BUILD DIR
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)
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add_library(
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${shiboken_bindings_library} MODULE
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${shiboken_generated_sources})
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shiboken_include_directories(
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${shiboken_bindings_library}
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"${shiboken_qt_components}")
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target_include_directories(
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${shiboken_bindings_library} PRIVATE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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${CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES}
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)
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target_link_libraries(
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${shiboken_bindings_library}
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Qt5::Core
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Qt5::Gui
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Qt5::Widgets
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rviz_python
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)
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ament_target_dependencies(
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${shiboken_bindings_library}
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rviz_common
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)
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shiboken_target_link_libraries(${shiboken_bindings_library} ${shiboken_qt_components})
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set_target_properties(${shiboken_bindings_library} PROPERTIES
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PREFIX "")
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set_property(TARGET ${shiboken_bindings_library} PROPERTY OUTPUT_NAME
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"${shiboken_bindings_library}.${Python3_SOABI}")
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if(WIN32)
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if("${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
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set_property(TARGET ${shiboken_bindings_library} PROPERTY SUFFIX "_d.pyd")
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else()
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set_property(TARGET ${shiboken_bindings_library} PROPERTY SUFFIX ".pyd")
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endif()
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target_link_libraries(
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${shiboken_bindings_library}
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Python3_LIBRARIES
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)
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endif()
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ament_python_install_package(rviz)
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install(TARGETS ${shiboken_bindings_library}
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LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/rviz
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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find_package(ament_cmake_pytest REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_export_include_directories(
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include
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)
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ament_export_libraries(
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rviz_python
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)
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ament_export_targets(
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export_rviz_python
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)
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ament_package()

‎rviz_python_bindings/README.md‎

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# RVIZ Pyhon Bindings
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## Usage
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To use the python bindings, you need to do the following:
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```python
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import os
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os.environ["QT_API"] = "pyside2"
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from rviz import rviz_common
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```
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Currently only pyside2 is supported. No stubs are generated, so pylance does not work on namespaces.
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The following classes are wrapped:
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* VisualizationFrame
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* Config
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* VisualizationManager
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* ViewController
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* ViewManager
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* DisplayGroup
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* Display
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* PanelDockWidget
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* Tool
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* ToolManager
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* YamlConfigReader
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* YamlConfigWriter
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* Property
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* BoolProperty
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## Windows specifics
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On windows you will need to install the following dependencies manually:
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```
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pip install \
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--index-url=https://download.qt.io/official_releases/QtForPython/ \
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--trusted-host download.qt.io \
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shiboken2 pyside2 shiboken2_generator
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```

‎rviz_python_bindings/conf/global.hpp‎

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/*
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* Copyright (c) 2011, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef PYTHON_GLOBAL_H
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#define PYTHON_GLOBAL_H
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#include <pyside2_global.h>
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#include <QtCore/QtCore>
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#include <QtGui/QtGui>
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#include <QtWidgets/QtWidgets>
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#include <rviz_common/visualization_frame.hpp>
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#include <rviz_common/visualization_manager.hpp>
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#include <rviz_common/display_group.hpp>
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#include <rviz_common/display.hpp>
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#include <rviz_common/view_manager.hpp>
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#include <rviz_common/tool.hpp>
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#include <rviz_common/tool_manager.hpp>
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#include <rviz_common/panel_dock_widget.hpp>
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#include <rviz_common/properties/bool_property.hpp>
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#include <rviz_common/properties/property.hpp>
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#include <rviz_python_bindings/visualizer_frame_py.hpp>
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#include <rviz_common/yaml_config_reader.hpp>
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#include <rviz_common/yaml_config_writer.hpp>
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#include <rviz_common/config.hpp>
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#include <rviz_common/view_controller.hpp>
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#include <rviz_rendering/ogre_logging.hpp>
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#endif // PYTHON_GLOBAL_H

‎rviz_python_bindings/conf/typesystem.xml‎

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<?xml version="1.0"?>
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<typesystem package="rviz_shiboken">
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<load-typesystem name="typesystem_core.xml" generate="no"/>
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<load-typesystem name="typesystem_gui.xml" generate="no"/>
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<load-typesystem name="typesystem_widgets.xml" generate="no"/>
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<namespace-type name="Ogre">
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<primitive-type name="Vector3"/>
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</namespace-type>
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<namespace-type name="rviz_common">
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<object-type name="VisualizationFrame"/>
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<object-type name="VisualizationManager"/>
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<object-type name="ViewManager"/>
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<object-type name="DisplayGroup"/>
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<object-type name="Display"/>
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<object-type name="VisualizerFramePy"/>
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<object-type name="PanelDockWidget"/>
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<object-type name="Tool"/>
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<object-type name="ToolManager"/>
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<object-type name="YamlConfigReader"/>
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<object-type name="YamlConfigWriter"/>
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<object-type name="ViewController"/>
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<object-type name="Config">
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<enum-type name="Type"/>
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<object-type name="MapIterator"/>
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</object-type>
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<namespace-type name="properties">
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<object-type name="Property"/>
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<object-type name="BoolProperty"/>
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</namespace-type>
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</namespace-type>
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<namespace-type name="rviz_rendering">
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<object-type name="OgreLogging"/>
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</namespace-type>
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</typesystem>

‎rviz_python_bindings/include/rviz_python_bindings/visualizer_frame_py.hpp‎

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#ifndef VISUALIZER_FRAME_PY_HPP
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#define VISUALIZER_FRAME_PY_HPP
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#include "rviz_common/visualization_frame.hpp"
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#include "rviz_common/ros_integration/ros_client_abstraction.hpp"
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#include "rviz_common/ros_integration/ros_node_abstraction.hpp"
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namespace rviz_common
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{
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class VisualizerFramePy : public VisualizationFrame
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{
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protected:
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std::unique_ptr<rviz_common::ros_integration::RosClientAbstraction> ros_client_abstraction_;
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public:
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explicit VisualizerFramePy(
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QWidget * parent = nullptr);
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~VisualizerFramePy()
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{
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ros_client_abstraction_->shutdown();
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}
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bool node_ok();
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void initialize(const QString & display_config_file = "");
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};
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}
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#endif

‎rviz_python_bindings/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>rviz_python_bindings</name>
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<version>0.0.0</version>
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<description>RViz python bindings</description>
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<maintainer email="[email protected]">christoph</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<depend>rviz_common</depend>
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<depend>rviz_rendering</depend>
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<depend>python3_pyside2</depend>
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<depend>python3_qtpy</depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎rviz_python_bindings/rviz/__init__.py‎

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# Python package 'rviz' initialization.
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#
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# The actual implementations are defined in C++ and wrapped by
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# shiboken or sip. This wrapper finds which binding is available and
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# presents it as package rviz.
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from qtpy import PYSIDE2
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if PYSIDE2:
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# Import the shared library generated by the shiboken binding-generator.
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from . import rviz_shiboken as bindings
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# Expose the contained rviz class as bindings
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rviz_common = bindings.rviz_common
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VisualizationFrame = bindings.rviz_common.VisualizerFramePy
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Config = bindings.rviz_common.Config
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VisualizationManager = bindings.rviz_common.VisualizationManager
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ViewManager = bindings.rviz_common.ViewManager
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DisplayGroup = bindings.rviz_common.DisplayGroup
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Display = bindings.rviz_common.Display
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PanelDockWidget = bindings.rviz_common.PanelDockWidget
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Tool = bindings.rviz_common.Tool
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ToolManager = bindings.rviz_common.ToolManager
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YamlConfigReader = bindings.rviz_common.YamlConfigReader
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YamlConfigWriter = bindings.rviz_common.YamlConfigWriter
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Property = bindings.rviz_common.properties.Property
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BoolProperty = bindings.rviz_common.properties.BoolProperty
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else:
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raise ImportError(
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"Python Bindings for rviz are only available for PySide2."
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"Please set ENV Variable Qt_API to 'pyside2'"
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)

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