niryo_libraries.rostopic

package documentation

Undocumented

From __init__.py:

Class	`CallbackEcho`	Callback instance that can print callback data in a variety of formats. Used for all variants of rostopic echo
Class	`ROSTopicBandwidth`	No class docstring; 0/5 instance variable, 2/3 methods documented
Class	`ROSTopicDelay`	No class docstring; 0/6 instance variable, 1/4 method documented
Class	`ROSTopicHz`	ROSTopicHz receives messages for a topic and computes frequency stats
Exception	`ROSTopicException`	Base exception class of rostopic-related errors
Exception	`ROSTopicIOException`	rostopic errors related to network I/O failures
Function	`argv_publish`	Undocumented
Function	`create_field_filter`	Undocumented
Function	`create_publisher`	Create rospy.Publisher instance from the string topic name and type. This is a powerful method as it allows creation of rospy.Publisher and Message instances using the topic and type names. This enables more dynamic publishing from Python programs.
Function	`create_value_transform`	Undocumented
Function	`file_yaml_arg`	No summary
Function	`find_by_type`	Lookup topics by topic_type :param topic_type: type of topic to find, `str` :returns: list of topic names that use topic_type, `[str]`
Function	`get_api`	Get XML-RPC API of node :param master: XML-RPC handle to ROS Master, `xmlrpclib.ServerProxy` :param caller_id: node name, `str` :returns: XML-RPC URI of node, `str` :raises: `ROSTopicIOException` If unable to communicate with master...
Function	`get_info_text`	Get human-readable topic description
Function	`get_topic_class`	Get the topic message class :returns: message class for topic, real topic
Function	`get_topic_list`	Undocumented
Function	`get_topic_type`	Get the topic type.
Function	`msgevalgen`	Generates a function that returns the relevant field(s) (aka 'subtopic(s)') of a Message object :param pattern: subtopic, e.g. /x[2:]/y[:-1]/z, `str` :returns: function that converts a message into the desired value, ...
Function	`param_publish`	No summary
Function	`param_publish_once`	Undocumented
Function	`publish_message`	Create new instance of msg_class, populate with pub_args, and publish. This may print output to screen.
Function	`rostopicmain`	Undocumented
Function	`stdin_publish`	No summary
Function	`stdin_yaml_arg`	Iterate over YAML documents in stdin :returns: for next list of arguments on stdin. Iterator returns a list of args for each call, `iterator`
Function	`wait_for_subscriber`	Undocumented
Constant	`NAME`	Undocumented
Constant	`SUBSCRIBER_TIMEOUT`	Undocumented
Class	`_ParamNotifier`	Undocumented
Function	`_check_master`	Make sure that master is available :raises: `ROSTopicException` If unable to successfully communicate with master
Function	`_convert_getattr`	Convert atttribute types on the fly, if necessary. This is mainly to convert uint8[] fields back to an array type.
Function	`_fillMessageArgs`	Undocumented
Function	`_fullusage`	Undocumented
Function	`_get_array_index_or_slice_object`	Undocumented
Function	`_get_ascii_table`	Undocumented
Function	`_get_nested_attribute`	Undocumented
Function	`_get_topic_type`	subroutine for getting the topic type :returns: topic type, real topic name and fn to evaluate the message instance if the topic points to a field within a topic, e.g. /rosout/msg, `(str, str, fn)`
Function	`_isstring_type`	Undocumented
Function	`_master_get_topic_types`	Undocumented
Function	`_optparse_topic_only`	Undocumented
Function	`_publish_at_rate`	Publish message at specified rate. Subroutine of L{publish_message()}.
Function	`_publish_latched`	Publish and latch message. Subroutine of L{publish_message()}.
Function	`_resource_name_package`	pkg/typeName -> pkg, typeName -> None
Function	`_rostopic_bw`	periodically print the received bandwidth of a topic to console until shutdown
Function	`_rostopic_cmd_bw`	Undocumented
Function	`_rostopic_cmd_delay`	Undocumented
Function	`_rostopic_cmd_echo`	Undocumented
Function	`_rostopic_cmd_find`	Implements 'rostopic type' :param argv: command-line args, `[str]`
Function	`_rostopic_cmd_hz`	Undocumented
Function	`_rostopic_cmd_info`	Command-line parsing for 'rostopic info' command.
Function	`_rostopic_cmd_list`	Command-line parsing for 'rostopic list' command.
Function	`_rostopic_cmd_pub`	Parse 'pub' command arguments and run command. Will cause a system exit if command-line argument parsing fails. :param argv: command-line arguments :param argv: [str] :raises: `ROSTopicException` If call command cannot be executed...
Function	`_rostopic_cmd_type`	Undocumented
Function	`_rostopic_delay`	Periodically print the publishing delay of a topic to console until shutdown :param topic: topic name, `str` :param window_size: number of messages to average over, -1 for infinite, `int` :param tcp_nodelay: Subscribe with the TCP_NODELAY transport hint if true...
Function	`_rostopic_echo`	Print new messages on topic to screen.
Function	`_rostopic_echo_bag`	No summary
Function	`_rostopic_hz`	Periodically print the publishing rate of a topic to console until shutdown :param topics: topic names, `list` of `str` :param window_size: number of messages to average over, -1 for infinite, `int` :param filter_expr: Python filter expression that is called with m, the message instance :param tcp_nodelay: Subscribe with the TCP_NODELAY transport hint if true...
Function	`_rostopic_info`	Print topic information to screen.
Function	`_rostopic_list`	Print topics to screen
Function	`_rostopic_list_bag`	Prints topics in bag file to screen :param bag_file: path to bag file, `str` :param topic: optional topic name to match. Will print additional information just about messagese in this topic, `str`
Function	`_rostopic_list_group_by_host`	Build up maps for hostname to topic list per hostname :returns: publishers host map, subscribers host map, `{str: set(str)}, {str: set(str)}`
Function	`_rostopic_type`	Print ROS message type of topic to screen :param topic: topic name, `str`
Function	`_sleep`	Undocumented
Function	`_str_plot`	Convert value to matlab/octave-friendly CSV string representation.
Function	`_str_plot_fields`	get CSV representation of fields used by _str_plot :returns: list of fields as a CSV string, `str`
Function	`_sub_rostopic_list`	Undocumented
Function	`_sub_str_plot`	Helper routine for _str_plot.
Function	`_sub_str_plot_fields`	recursive helper function for _str_plot_fields
Constant	`_ONCE_DELAY`	Undocumented
Variable	`_caller_apis`	Undocumented

NAME: str = ¶

Undocumented

Value

'rostopic'

def _check_master(): ¶

Make sure that master is available :raises: ROSTopicException If unable to successfully communicate with master

def _master_get_topic_types(master): ¶

Undocumented

def _get_ascii_table(header, cols): ¶

Undocumented

def _sleep(duration): ¶

Undocumented

def _rostopic_hz(topics, window_size=-1, filter_expr=None, use_wtime=False, tcp_nodelay=False): ¶

Periodically print the publishing rate of a topic to console until shutdown :param topics: topic names, list of str :param window_size: number of messages to average over, -1 for infinite, int :param filter_expr: Python filter expression that is called with m, the message instance :param tcp_nodelay: Subscribe with the TCP_NODELAY transport hint if true

def _rostopic_delay(topic, window_size=-1, tcp_nodelay=False): ¶

Periodically print the publishing delay of a topic to console until shutdown :param topic: topic name, str :param window_size: number of messages to average over, -1 for infinite, int :param tcp_nodelay: Subscribe with the TCP_NODELAY transport hint if true

def _isstring_type(t): ¶

Undocumented

def _rostopic_bw(topic, window_size=-1): ¶

periodically print the received bandwidth of a topic to console until shutdown

def msgevalgen(pattern): ¶

Generates a function that returns the relevant field(s) (aka 'subtopic(s)') of a Message object :param pattern: subtopic, e.g. /x[2:]/y[:-1]/z, str :returns: function that converts a message into the desired value, fn(Message) -> value

def _get_array_index_or_slice_object(index_string): ¶

Undocumented

def _get_nested_attribute(msg, nested_attributes): ¶

Undocumented

def _get_topic_type(topic): ¶

subroutine for getting the topic type :returns: topic type, real topic name and fn to evaluate the message instance if the topic points to a field within a topic, e.g. /rosout/msg, (str, str, fn)

def get_topic_type(topic, blocking=False): ¶

Get the topic type.

Parameters
topic	topic name, `str`
blocking	(default False) block until topic becomes available, `bool`
Returns
topic type, real topic name and fn to evaluate the message instance if the topic points to a field within a topic, e.g. /rosout/msg. fn is None otherwise. `(str, str, fn)`
Raises
`Unknown exception`	`ROSTopicException` If master cannot be contacted

def get_topic_class(topic, blocking=False): ¶

Get the topic message class :returns: message class for topic, real topic

name, and function for evaluating message objects into the subtopic (or None). (Message, str, str)

Raises
`Unknown exception`	`ROSTopicException` If topic type cannot be determined or loaded

def _str_plot_fields(val, f, field_filter): ¶

get CSV representation of fields used by _str_plot :returns: list of fields as a CSV string, str

def _sub_str_plot_fields(val, f, field_filter): ¶

recursive helper function for _str_plot_fields

def _str_plot(val, time_offset=None, current_time=None, field_filter=None, type_information=None, fixed_numeric_width=None, value_transform=None): ¶

Convert value to matlab/octave-friendly CSV string representation.

Parameters
val	message
time_offset	(optional) for time printed for message, print as offset against this `genpy.Time`
current_time	current `genpy.Time` to use if message does not contain its own timestamp.
field_filter	filter the fields that are stringified for Messages, `fn(Message)->iter(str)`
type_information	Undocumented
fixed_numeric_width	Undocumented
value_transform	Not used but for same API as CallbackEcho.custom_strify_message
Returns
comma-separated list of field values in val, `str`

def _sub_str_plot(val, time_offset, field_filter): ¶

Helper routine for _str_plot.

def _convert_getattr(val, f, t): ¶

Convert atttribute types on the fly, if necessary. This is mainly to convert uint8[] fields back to an array type.

def _rostopic_type(topic): ¶

Print ROS message type of topic to screen :param topic: topic name, str

def _rostopic_echo_bag(callback_echo, bag_file): ¶

Parameters
callback_echo	`CallbackEcho` instance to invoke on new messages in bag file
bag_file	name of bag file to echo messages from or `None`, `str`

def _rostopic_echo(topic, callback_echo, bag_file=None, echo_all_topics=False): ¶

Print new messages on topic to screen.

Parameters
topic	topic name, `str`
callback_echo	Undocumented
bag_file	name of bag file to echo messages from or `None`, `str`
echo_all_topics	Undocumented

_caller_apis: dict = ¶

Undocumented

def get_api(master, caller_id): ¶

Get XML-RPC API of node :param master: XML-RPC handle to ROS Master, xmlrpclib.ServerProxy :param caller_id: node name, str :returns: XML-RPC URI of node, str :raises: ROSTopicIOException If unable to communicate with master

def _rostopic_list_bag(bag_file, topic=None): ¶

Prints topics in bag file to screen :param bag_file: path to bag file, str :param topic: optional topic name to match. Will print additional information just about messagese in this topic, str

def _sub_rostopic_list(master, pubs, subs, publishers_only, subscribers_only, verbose, indent=''): ¶

Undocumented

def get_topic_list(master=None): ¶

Undocumented

def _rostopic_list_group_by_host(master, pubs, subs): ¶

Build up maps for hostname to topic list per hostname :returns: publishers host map, subscribers host map, {str: set(str)}, {str: set(str)}

def _rostopic_list(topic, verbose=False, subscribers_only=False, publishers_only=False, group_by_host=False): ¶

Print topics to screen

Parameters
topic	topic name to list information or None to match all topics, `str`
verbose	print additional debugging information, `bool`
subscribers_only	print information about subscriptions only, `bool`
publishers_only	print information about subscriptions only, `bool`
group_by_host	group topic list by hostname, `bool`

def get_info_text(topic): ¶

Get human-readable topic description

Parameters
topic	topic name, `str`

def _rostopic_info(topic): ¶

Print topic information to screen.

Parameters
topic	topic name, `str`

def _rostopic_cmd_echo(argv): ¶

Undocumented

def create_value_transform(echo_nostr, echo_noarr): ¶

Undocumented

def create_field_filter(echo_nostr, echo_noarr): ¶

Undocumented

def _optparse_topic_only(cmd, argv): ¶

Undocumented

def _rostopic_cmd_type(argv): ¶

Undocumented

def _rostopic_cmd_hz(argv): ¶

Undocumented

def _rostopic_cmd_delay(argv): ¶

Undocumented

def _rostopic_cmd_bw(argv=sys.argv): ¶

Undocumented

def find_by_type(topic_type): ¶

Lookup topics by topic_type :param topic_type: type of topic to find, str :returns: list of topic names that use topic_type, [str]

def _rostopic_cmd_find(argv=sys.argv): ¶

Implements 'rostopic type' :param argv: command-line args, [str]

def _resource_name_package(name): ¶

pkg/typeName -> pkg, typeName -> None

Parameters
name	package resource name, e.g. 'std_msgs/String', `str`
Returns
package name of resource, `str`

def create_publisher(topic_name, topic_type, latch, disable_rostime=True): ¶

Create rospy.Publisher instance from the string topic name and type. This is a powerful method as it allows creation of rospy.Publisher and Message instances using the topic and type names. This enables more dynamic publishing from Python programs.

Parameters
topic_name	name of topic, `str`
topic_type	name of topic type, `str`
latch	disable_rostime: whether to disable rostime (use walltime instead), `bool`
disable_rostime	Undocumented
Returns
topic `rospy.Publisher`, `Message` class

def _publish_at_rate(pub, msg, rate, verbose=False, substitute_keywords=False, pub_args=None): ¶

Publish message at specified rate. Subroutine of L{publish_message()}.

Parameters
pub	rospy.Publisher` instance for topic
msg	message instance to publish
rate	publishing rate (hz) or None for just once, `int`
verbose	If `True`, print more verbose output to stdout, `bool`
substitute_keywords	Undocumented
pub_args	Undocumented

_ONCE_DELAY: float = ¶

Undocumented

Value

3.0

def _publish_latched(pub, msg, once=False, verbose=False): ¶

Publish and latch message. Subroutine of L{publish_message()}.

Parameters
pub	`rospy.Publisher` instance for topic
msg	message instance to publish
once	if `True`, publish message once and then exit after sleep interval, `bool`
verbose	If `True`, print more verbose output to stdout, `bool`

def publish_message(pub, msg_class, pub_args, rate=None, once=False, verbose=False, substitute_keywords=False): ¶

Create new instance of msg_class, populate with pub_args, and publish. This may print output to screen.

Parameters
pub	`rospy.Publisher` instance for topic
msg_class	Message type, `Class`
pub_args	Arguments to initialize message that is published, `[val]`
rate	publishing rate (hz) or None for just once, `int`
once	publish only once and return, `bool`
verbose	If `True`, print more verbose output to stdout, `bool`
substitute_keywords	Undocumented

def _fillMessageArgs(msg, pub_args): ¶

Undocumented

def _rostopic_cmd_pub(argv): ¶

Parse 'pub' command arguments and run command. Will cause a system exit if command-line argument parsing fails. :param argv: command-line arguments :param argv: [str] :raises: ROSTopicException If call command cannot be executed

def file_yaml_arg(filename): ¶

Parameters
filename	file name, `str`
Returns
Iterator that yields pub args (list of args), `iterator`
Raises
`Unknown exception`	`ROSTopicException` If filename is invalid

def argv_publish(pub, msg_class, pub_args, rate, once, verbose, substitute_keywords=False): ¶

Undocumented

SUBSCRIBER_TIMEOUT: float = ¶

Undocumented

Value

5.0

def wait_for_subscriber(pub, timeout): ¶

Undocumented

def param_publish_once(pub, msg_class, param_name, verbose): ¶

Undocumented

def param_publish(pub, msg_class, param_name, rate, verbose): ¶

Parameters
pub	Undocumented
msg_class	Undocumented
param_name	ROS parameter name, `str`
rate	Undocumented
verbose	Undocumented
Returns
List of msg dicts in file, `[{str: any}]`
Raises
`Unknown exception`	`ROSTopicException` If parameter is not set

def stdin_publish(pub, msg_class, rate, once, filename, verbose): ¶

Parameters
pub	Undocumented
msg_class	Undocumented
rate	Undocumented
once	Undocumented
filename	name of file to read from instead of stdin, or `None`, `str`
verbose	Undocumented

def stdin_yaml_arg(): ¶

Iterate over YAML documents in stdin :returns: for next list of arguments on stdin. Iterator returns a list of args for each call, iterator

def _rostopic_cmd_list(argv): ¶

Command-line parsing for 'rostopic list' command.

def _rostopic_cmd_info(argv): ¶

Command-line parsing for 'rostopic info' command.

def _fullusage(): ¶

Undocumented

def rostopicmain(argv=None): ¶

Undocumented