subt/docker/rospy: use rospy in python3

subt/docker/rospy/Dockerfile

@@ -0,0 +1,14 @@
+FROM ubuntu:20.04
+
+RUN apt-get update \
+    && DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
+        python3-rospy \
+        python3-std-srvs \
+    && apt-get clean
+
+ADD subt/docker/rospy/cmd.py .
+
+ENTRYPOINT []
+
+CMD [ "/usr/bin/python3" , "cmd.py" ]
+#CMD [ "/bin/bash" ]

subt/docker/rospy/cmd.py

@@ -0,0 +1,43 @@
+
+import time
+
+import rospy
+from rospy.impl import rosout
+from std_srvs.srv import SetBool
+
+
+def main():
+    rospy.init_node('python3-test', log_level=rospy.DEBUG)
+    print("Waiting for /rosout logger")
+    while rosout._rosout_pub.get_num_connections() == 0:
+        time.sleep(0.2)
+    rospy.loginfo("python3 client running")
+
+    params = rospy.get_param_names()
+    for name in params:
+        value = rospy.get_param(name)
+        rospy.loginfo(f"{name}: {str(value)}")
+
+    # we need these services
+    rospy.loginfo("waiting for /subt/start and /subt/finish")
+    rospy.wait_for_service('/subt/start')
+    rospy.wait_for_service('/subt/finish')
+
+    # if clock is not ticking, service /subt/start will return with error
+    rospy.loginfo("waiting for clock")
+    rospy.sleep(2)
+    rospy.loginfo(repr(rospy.get_rostime()))
+
+    try:
+        subt_start = rospy.ServiceProxy('/subt/start', SetBool)
+        ret = subt_start(True)
+        rospy.loginfo("/subt/start: {0}".format(ret.success))
+
+    finally:
+        subt_finish = rospy.ServiceProxy('/subt/finish', SetBool)
+        ret = subt_finish(True)
+        rospy.loginfo("/subt/finish: {0}".format(ret.success))
+
+
+if __name__ == "__main__":
+    main()