ros2-bluetooth-node-

import bluetooth import rclpy from rclpy.node import Node from std_msgs.msg import String import bluetooth class MinimalSubscriber(Node):

def __init__(self):
    super().__init__('minimal_subscriber')
    self.subscription = self.create_subscription(
        String,
        'topic',
        self.listener_callback,
        10)
    self.subscription  # prevent unused variable warning

def listener_callback(self, msg):
    self.get_logger().info('I heard: "%s"' % msg.data)
    addr = msg.data
    uuid = "94f39d29-7d6d-437d-973b-fba39e49d4ee"
    service_matches = bluetooth.find_service( uuid = uuid, address = addr )

    if len(service_matches) == 0:
        print ("Couldn't find the SampleServer service.")
        return

    first_match = service_matches[0]
    port = first_match["port"]
    name = first_match["name"]
    host = first_match["host"]

    print ("Connecting to \"%s\" on %s" % (name, host))

    # Create the client socket
    sock=bluetooth.BluetoothSocket( bluetooth.RFCOMM )
    sock.connect((host, port))

    print ("Connected. Type something...")
    while True:
        data = input()
        if len(data) == 0:
            break
        sock.send(data)

    sock.close()

yhbcode000/ros2-bluetooth-node-

ros2-bluetooth-node-