Merge remote-tracking branch 'github/main'

.github/workflows/build.yml

@@ -0,0 +1,38 @@
+name: GitHub Pages
+
+on:
+  push:
+    branches: ["main"]
+
+# 权限
+permissions:
+  contents: write
+
+jobs:
+  build-and-deploy:
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Set up Python
+      uses: actions/setup-python@v4
+      with:
+        python-version: 3.12
+
+    - name: Install dependencies
+      run: |
+        pip install -e .
+        pip install -e .[docs]
+
+    - name: Build Sphinx documentation
+      run: |
+        sphinx-build -b html docs build
+        # 创建 .nojekyll 文件以允许下划线开头的文件夹
+        touch build/.nojekyll
+    
+    - name: Deploy to GitHub Pages
+      uses: JamesIves/[email protected]
+      with:
+        branch: gh-pages
+        folder: build

ros_compat/__init__.py

@@ -7,7 +7,9 @@
         import rospy
         ROS_VERSION = 1
     except ImportError:
-        raise ImportError("Neither ROS1 (rospy) nor ROS2 (rclpy) was found")
+        import warnings
+        warnings.warn("Neither ROS1 (rospy) nor ROS2 (rclpy) was found")
+        ROS_VERSION = None
 
 from .node import ROSNode
 from .time import ROSTime

ros_compat/logging.py

@@ -5,7 +5,10 @@
 try:
     import rclpy as ros
 except ImportError:
-    import rospy as ros
+    try:
+        import rospy as ros
+    except ImportError:
+        ros = None
 
 class ROSLogger:
     """Wrapper for ROS logging functions.
@@ -16,6 +19,8 @@ class ROSLogger:
         node_name (str): Name of the node for logging context
     """
     def __init__(self, node_name: str):
+        if ROS_VERSION is None:
+            raise ImportError("Neither ROS1 (rospy) nor ROS2 (rclpy) was found")
         self.node_name = node_name
         if ROS_VERSION == 2:
             self.logger = ros.logging.get_logger(node_name)

ros_compat/node.py

@@ -12,10 +12,12 @@
     from rclpy.time import Time as ROS2Time
     from rclpy.timer import Timer as ROS2Timer
     from rclpy.qos import QoSProfile, ReliabilityPolicy
-else:
+elif ROS_VERSION == 1:
     import rospy
     ros = rospy  # For consistent naming
     from rospy import Time as ROS1Time
+else:
+    ros = None
 
 from .time import ROSTime
 from .logging import ROSLogger
@@ -30,6 +32,8 @@ class ROSNode:
         node_name (str): Name of the node
     """
     def __init__(self, node_name: str):
+        if ROS_VERSION is None:
+            raise ImportError("Neither ROS1 (rospy) nor ROS2 (rclpy) was found")
         self.node_name = node_name
 
         if ROS_VERSION == 2:

ros_compat/time.py

@@ -35,6 +35,8 @@ def now(self) -> float:
             >>> current_time = time.now()
             >>> print(f"Current time: {current_time}")
         """
+        if ROS_VERSION is None:
+            raise ImportError("Neither ROS1 (rospy) nor ROS2 (rclpy) was found")
         if ROS_VERSION == 2:
             return float(self._node.get_clock().now().nanoseconds) / 1e9
         return float(ros.Time.now().to_nsec()) / 1e9
@@ -58,6 +60,8 @@ def to_msg(self) -> Any:
     @staticmethod
     def sleep(duration: float) -> None:
         """Sleep for specified duration in seconds."""
+        if ROS_VERSION is None:
+            raise ImportError("Neither ROS1 (rospy) nor ROS2 (rclpy) was found")
         if ROS_VERSION == 2:
             ros.time.sleep(duration)
         else: