from streamlit.web import cli as stcli
import streamlit as st
import rospy
from std_msgs.msg import String, Int32
import sys
import time
mynum=0
mydelta=0
def callback(data):
global mydelta, mynum
mydelta=mynum-data.data
mynum=data.data
#rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
def getData():
return mynum, mydelta
rospy.init_node('my_streamlit_ros_node')
pub = rospy.Publisher('/mystring', String, queue_size=10)
rospy.Subscriber("mynumber", Int32 , callback)
def main():
st.title('Streamlit APP:')
st.subheader('Commuicating with ROS')
mytext = st.text_input('Send String to ROS', 'Life of Brian')
pub.publish(mytext)
metrics = st.empty()
while True:
mynum, mydelta=getData()
with metrics:
st.metric(label="Get Int32 Number from ROS", value=mynum, delta=mydelta, delta_color="inverse")
time.sleep(1)
if __name__ == '__main__':
if st._is_running_with_streamlit:
main()
else:
sys.argv = ["streamlit", "run", sys.argv[0]]
sys.exit(stcli.main())