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from collections import OrderedDict
import os
import json

import genmsg
import rosmsg
import rospkg


def load_specs(context, search_path, msg):

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import threading

import rospy


def get_single_msg(topic, type_, timeout=None):
    """ Utility function that gets a single message from a ROS topic.
    
    Args:
        topic: ROS topic (string).

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Video export for openFrameworks

This is a small helper that uses ffmpeg to record h264 video from openFrameworks.

It starts ffmpeg in a subprocess, so ffmpeg should be available on your system. Tested on Linux but probably works on macOS too.

How to use

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from pydrake.symbolic import Variable
from pydrake.systems.analysis import Simulator
from pydrake.systems.controllers import PidController
from pydrake.systems.framework import DiagramBuilder
from pydrake.systems.primitives import SymbolicVectorSystem

x, xd = Variable('x'), Variable('xdot')
f = Variable('f')
state = [x, xd]
k = 1

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from pydrake.symbolic import Variable
from pydrake.systems.analysis import Simulator
from pydrake.systems.controllers import PidController
from pydrake.systems.framework import BasicVector, DiagramBuilder, LeafSystem
from pydrake.systems.primitives import SymbolicVectorSystem

k = 1
s = 1
m = 1

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""" Simple solution for streaming audio from Gqrx to Firefox.

Requires the opusenc command line tool.

This program uses the fact that Opus files can be concatenated to form a valid
stream and that Firefox can play these streams natively. The drawback is the
overhead created by repeatedly inserting containers and metadata into the
stream.

- Check https://fastapi.tiangolo.com/tutorial/ to see how to run the server.

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