Renamed ROS2 to ROS 2 in compliance with the ROS 2 specifications https://www.ros.org/imgs/ROSBrandGuide.pdf

.github/workflows/manual_update_version.yml

@@ -17,7 +17,7 @@ jobs:
         pdm add setuptools
         pdm import setup.py
 
-    - name: Update ROS & ROS2 Interface Versions
+    - name: Update ROS & ROS 2 Interface Versions
       run: |
         VERSION=$(grep -oP '(?<=version = ")[^"]+' pyproject.toml)
         if [[ -z "$VERSION" ]]; then

README.md

@@ -43,8 +43,8 @@ Note that the iCub package is not needed for Wrapyfi to work and does not have t
 * For installing ROS, follow the [ROS installation guide](http://wiki.ros.org/noetic/Installation/Ubuntu). 
 We recommend installing ROS on Conda using the [RoboStack](https://github.com/RoboStack/ros-noetic) environment.
 
-* For installing ROS2, follow the [ROS2 installation guide](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html). 
-We recommend installing ROS2 on Conda using the [RoboStack](https://github.com/RoboStack/ros-humble) environment.
+* For installing ROS2, follow the [ROS 2 installation guide](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html). 
+We recommend installing ROS 2 on Conda using the [RoboStack](https://github.com/RoboStack/ros-humble) environment.
 
 * ZeroMQ can be installed using pip: `pip install pyzmq`. 
 The xpub-xsub pattern followed in our ZeroMQ implementation requires a proxy broker. A broker is spawned by default as a daemon process.
@@ -61,7 +61,7 @@ A standalone broker can be found [here](https://github.com/fabawi/wrapyfi/tree/m
 
 * YARP >= v3.3.2 
 * ROS Noetic Ninjemys
-* ROS2 Humble Hawksbill **|** Galactic Geochelone **|** Foxy Fitzroy 
+* ROS 2 Humble Hawksbill **|** Galactic Geochelone **|** Foxy Fitzroy 
 * PyZMQ 16.0, 17.1 and 19.0
 
 

docs/usage.md

@@ -208,8 +208,8 @@ All messages are transmitted using the rospy python bindings as topic messages
 *(ROS2)*: 
 
 ```{warning}
-ROS2 requires a custom message to handle audio. This message must be compiled first before using Wrapyfi with ROS2 Audio. 
-Refer to [these instructions for compiling Wrapyfi ROS2 services and messages](https://github.com/fabawi/wrapyfi/tree/master/wrapyfi_extensions/wrapyfi_ros2_interfaces/README.md).
+ROS 2 requires a custom message to handle audio. This message must be compiled first before using Wrapyfi with ROS 2 Audio. 
+Refer to [these instructions for compiling Wrapyfi ROS 2 services and messages](https://github.com/fabawi/wrapyfi/tree/master/wrapyfi_extensions/wrapyfi_ros2_interfaces/README.md).
 ```
 
 All messages are transmitted using the rclpy python bindings as topic messages
@@ -218,7 +218,7 @@ All messages are transmitted using the rclpy python bindings as topic messages
 * **AudioChunk**: Transmits and receives a `numpy` audio chunk using `wrapyfi_ros2_interfaces.msg.ROS2AudioMessage`
 * **NativeObject**: Transmits and receives a `json` string supporting all native python objects, `numpy` arrays, and [other formats](#data-structure-types) using `std_msgs.msg.String`
 * **Properties**: Transmits properties [*planned for Wrapyfi v0.5*]
-* **ROS2Message**: Transmits and receives a single [ROS2 message](https://docs.ros.org/en/humble/Concepts/About-ROS-Interfaces.html) per return decorator
+* **ROS2Message**: Transmits and receives a single [ROS 2 message](https://docs.ros.org/en/humble/Concepts/About-ROS-Interfaces.html) per return decorator
 
 *(ZeroMQ)*:
 
@@ -268,8 +268,8 @@ The requester formats its arguments as *(\[args\], {kwargs})*
 *(ROS2)*:
 
 ```{warning}
-ROS2 requires custom services to handle arbitrary messages. These services must be compiled first before using Wrapyfi in this mode. 
-Refer to [these instructions for compiling Wrapyfi ROS2 services](https://github.com/fabawi/wrapyfi/tree/master/wrapyfi_extensions/wrapyfi_ros2_interfaces/README.md).
+ROS 2 requires custom services to handle arbitrary messages. These services must be compiled first before using Wrapyfi in this mode. 
+Refer to [these instructions for compiling Wrapyfi ROS 2 services](https://github.com/fabawi/wrapyfi/tree/master/wrapyfi_extensions/wrapyfi_ros2_interfaces/README.md).
 ```
 
 All messages are transmitted using the rclpy python bindings as services.
@@ -492,7 +492,7 @@ This can be achieved by setting:
 * `WRAPYFI_ZEROMQ_PARAM_PUB_PORT`: The parameter server pub-socket port. Defaults to 5655 (**currently not supported**)
 * `WRAPYFI_ZEROMQ_PARAM_SUB_PORT`: The parameter server sub-socket port. Defaults to 5656 (**currently not supported**)
 
-ROS and ROS2 queue sizes can be set by:
+ROS and ROS 2 queue sizes can be set by:
 
 * `WRAPYFI_ROS_QUEUE_SIZE`: Size of the queue buffer. Defaults to 5
 * `WRAPYFI_ROS2_QUEUE_SIZE`: Size of the queue buffer. Defaults to 5

docs/usage/User Guide/Communication Patterns.md

@@ -43,8 +43,8 @@ All messages are transmitted using the rospy python bindings as topic messages
 *(ROS2)*: 
 
 ```{warning}
-ROS2 requires a custom message to handle audio. This message must be compiled first before using Wrapyfi with ROS2 Audio. 
-Refer to [these instructions for compiling Wrapyfi ROS2 services and messages](https://github.com/fabawi/wrapyfi/tree/master/wrapyfi_extensions/wrapyfi_ros2_interfaces/README.md).
+ROS 2 requires a custom message to handle audio. This message must be compiled first before using Wrapyfi with ROS 2 Audio. 
+Refer to [these instructions for compiling Wrapyfi ROS 2 services and messages](https://github.com/fabawi/wrapyfi/tree/master/wrapyfi_extensions/wrapyfi_ros2_interfaces/README.md).
 ```
 
 All messages are transmitted using the rclpy python bindings as topic messages
@@ -53,7 +53,7 @@ All messages are transmitted using the rclpy python bindings as topic messages
 * **AudioChunk**: Transmits and receives a `numpy` audio chunk using `wrapyfi_ros2_interfaces.msg.ROS2AudioMessage`
 * **NativeObject**: Transmits and receives a `json` string supporting all native python objects, `numpy` arrays, and [other formats](<Plugins.md#data-structure-types>) using `std_msgs.msg.String`
 * **Properties**: Transmits properties [*planned for Wrapyfi v0.5*]
-* **ROS2Message**: Transmits and receives a single [ROS2 message](https://docs.ros.org/en/humble/Concepts/About-ROS-Interfaces.html) per return decorator
+* **ROS2Message**: Transmits and receives a single [ROS 2 message](https://docs.ros.org/en/humble/Concepts/About-ROS-Interfaces.html) per return decorator
 
 *(ZeroMQ)*:
 
@@ -103,8 +103,8 @@ The requester formats its arguments as *(\[args\], {kwargs})*
 *(ROS2)*:
 
 ```{warning}
-ROS2 requires custom services to handle arbitrary messages. These services must be compiled first before using Wrapyfi in this mode. 
-Refer to [these instructions for compiling Wrapyfi ROS2 services](https://github.com/fabawi/wrapyfi/tree/master/wrapyfi_extensions/wrapyfi_ros2_interfaces/README.md).
+ROS 2 requires custom services to handle arbitrary messages. These services must be compiled first before using Wrapyfi in this mode. 
+Refer to [these instructions for compiling Wrapyfi ROS 2 services](https://github.com/fabawi/wrapyfi/tree/master/wrapyfi_extensions/wrapyfi_ros2_interfaces/README.md).
 ```
 
 All messages are transmitted using the rclpy python bindings as services.

docs/usage/User Guide/Environment Variables.md

@@ -21,7 +21,7 @@ This can be achieved by setting:
 * `WRAPYFI_ZEROMQ_PARAM_PUB_PORT`: The parameter server pub-socket port. Defaults to 5655 (**currently not supported**)
 * `WRAPYFI_ZEROMQ_PARAM_SUB_PORT`: The parameter server sub-socket port. Defaults to 5656 (**currently not supported**)
 
-ROS and ROS2 queue sizes can be set by:
+ROS and ROS 2 queue sizes can be set by:
 
 * `WRAPYFI_ROS_QUEUE_SIZE`: Size of the queue buffer. Defaults to 5
 * `WRAPYFI_ROS2_QUEUE_SIZE`: Size of the queue buffer. Defaults to 5

examples/custom_msgs/ros2_message_example.py

@@ -1,27 +1,27 @@
 """
-A message publisher and listener for ROS2 messages using Wrapyfi.
+A message publisher and listener for ROS 2 messages using Wrapyfi.
 
-This script demonstrates the capability to transmit ROS2 messages, specifically
+This script demonstrates the capability to transmit ROS 2 messages, specifically
 geometry_msgs/Pose and std_msgs/String, using the MiddlewareCommunicator within
 the Wrapyfi library. The communication follows the PUB/SUB pattern allowing
 message publishing and listening functionalities between processes or machines.
 
 Demonstrations:
-    - Using the ROS2 message
-    - Transmitting std_msgs/String and geometry_msgs/Pose ROS2 messages
+    - Using the ROS 2 message
+    - Transmitting std_msgs/String and geometry_msgs/Pose ROS 2 messages
     - Applying the PUB/SUB pattern with channeling and mirroring
 
 Requirements:
     - Wrapyfi: Middleware communication wrapper (refer to the Wrapyfi documentation for installation instructions)
-    - ROS2, rclpy: Used for handling and creating ROS2 messages (refer to the Wrapyfi documentation for installation instructions)
+    - ROS2, rclpy: Used for handling and creating ROS 2 messages (refer to the Wrapyfi documentation for installation instructions)
 
-    Ensure ROS2 is installed and the required message types are available.
+    Ensure ROS 2 is installed and the required message types are available.
 
 Run:
     # On machine 1 (or process 1): Publisher waits for keyboard input and transmits message
         ``python3 ros2_message_example.py --mode publish``
 
-    # On machine 2 (or process 2): Listener waits for message and prints the received ROS2 messages
+    # On machine 2 (or process 2): Listener waits for message and prints the received ROS 2 messages
         ``python3 ros2_message_example.py --mode listen``
 """
 
@@ -43,7 +43,7 @@ class Notifier(MiddlewareCommunicator):
         should_wait=True
     )
     def send_message(self):
-        """Exchange ROS2 messages over ROS2."""
+        """Exchange ROS 2 messages over ROS2."""
         msg = input("Type your message: ")
         quat = Quaternion()
         quat.x = 0.1

examples/hello_world.py

@@ -2,7 +2,7 @@
 This example shows how to use the MiddlewareCommunicator to send and receive messages. It can be used to test the
 functionality of the middleware using the PUB/SUB pattern and the REQ/REP pattern. The example can be run on a single
 machine or on multiple machines. In this example (as with all other examples), the communication middleware is selected
-using the ``--mware`` argument. The default is ZeroMQ, but YARP, ROS, and ROS2 are also supported.
+using the ``--mware`` argument. The default is ZeroMQ, but YARP, ROS, and ROS 2 are also supported.
 
 Requirements:
     - Wrapyfi: Middleware communication wrapper (refer to the Wrapyfi documentation for installation instructions)

setup.py

@@ -34,7 +34,7 @@ def check_cv2(default_python="opencv-python"):
 
 setuptools.setup(
     name             = 'wrapyfi',
-    version          = '0.4.26',
+    version          = '0.4.27',
     description      = 'Wrapyfi is a wrapper for simplifying Middleware communication',
     url              = 'https://github.com/fabawi/wrapyfi/blob/master/',
     project_urls={

upgrade_project.sh

@@ -22,7 +22,7 @@ update_version_in_package_xml() {
     echo "Version updated to $VERSION in $PACKAGE_XML_PATH"
 }
 
-# UPDATE ROS & ROS2 INTERFACE VERSIONS
+# UPDATE ROS & ROS 2 INTERFACE VERSIONS
 #######################################################################################################################
 
 # get the version from pyproject.toml