rosapi Class Reference

Generic interface for accessing ROS1 / ROS2 API. More...

Public Member Functions
	canonical (cls, typename)
	Returns "pkg/Type" for "pkg/msg/Type", standardizes various ROS2 formats.
	create_publisher (cls, topic, typecls, latch=True, queue_size=10)
	Returns ROS publisher instance.
	get_message_class (cls, typename)
	Returns ROS message class.
	get_message_fields (cls, val)
	Returns OrderedDict({field name: field type name}) if ROS1 message, else {}.
	get_message_types (cls)
	Returns a list of available message types, as ["pksg/Msg", ].
	init (cls, launch=False)
	Initializes ROS, creating and spinning node if specified.
	is_ros_message (cls, val)
	Returns whether value is a ROS message or special like time/duration.
	is_ros_time (cls, val)
	Returns whether value is a ROS time/duration.
	make_full_typename (cls, typename)
	Returns "pkg/msg/Type" for "pkg/Type".
	message_to_yaml (cls, msg)
	Returns ROS message as YAML string.
	scalar (cls, typename, bound=False)
	Returns scalar type from ROS message data type, like "uint8" from "uint8[100]".
	shutdown (cls)

Public Attributes
	ROS_TIME_CLASSES

Static Public Attributes
dict	DDS_TYPES
	ROS2 Data Distribution Service types to ROS built-ins.
	NODE = None
	rclpy.Node instance
list	ROS_BUILTIN_TYPES = ROS_NUMERIC_TYPES + ROS_STRING_TYPES
	All built-in basic types in ROS.
	ROS_INTEGER_RANGES
	Value ranges for ROS integer types, as {typename: (min, max)}.
list	ROS_NUMERIC_TYPES
	All built-in numeric types in ROS.
list	ROS_STRING_TYPES = ["string", "wstring"]
	All built-in string types in ROS.
dict	ROS_TIME_CLASSES
	ROS time/duration types mapped to type names.

Detailed Description

Generic interface for accessing ROS1 / ROS2 API.

Definition at line 134 of file generate_msgs.py.

Member Function Documentation

canonical()

canonical	(		cls,
			typename
	)

Returns "pkg/Type" for "pkg/msg/Type", standardizes various ROS2 formats.

Converts DDS types like "octet" to "byte", and "sequence<uint8, 100>" to "uint8[100]".

Definition at line 217 of file generate_msgs.py.

create_publisher()

create_publisher	(		cls,
			topic,
			typecls,
			latch = True,
			queue_size = 10
	)

Returns ROS publisher instance.

Definition at line 247 of file generate_msgs.py.

get_message_class()

get_message_class	(		cls,
			typename
	)

Returns ROS message class.

Definition at line 257 of file generate_msgs.py.

get_message_fields()

get_message_fields	(		cls,
			val
	)

Returns OrderedDict({field name: field type name}) if ROS1 message, else {}.

Definition at line 264 of file generate_msgs.py.

get_message_types()

get_message_types

(

cls

)

Returns a list of available message types, as ["pksg/Msg", ].

Definition at line 188 of file generate_msgs.py.

init()

init	(		cls,
			launch = False
	)

Initializes ROS, creating and spinning node if specified.

Definition at line 196 of file generate_msgs.py.

is_ros_message()

is_ros_message	(		cls,
			val
	)

Returns whether value is a ROS message or special like time/duration.

Definition at line 276 of file generate_msgs.py.

is_ros_time()

is_ros_time	(		cls,
			val
	)

Returns whether value is a ROS time/duration.

Definition at line 283 of file generate_msgs.py.

make_full_typename()

make_full_typename	(		cls,
			typename
	)

Returns "pkg/msg/Type" for "pkg/Type".

Definition at line 288 of file generate_msgs.py.

message_to_yaml()

message_to_yaml	(		cls,
			msg
	)

Returns ROS message as YAML string.

Definition at line 295 of file generate_msgs.py.

scalar()

scalar	(		cls,
			typename,
			bound = False
	)

Returns scalar type from ROS message data type, like "uint8" from "uint8[100]".

Returns type unchanged if already a scalar.

Parameters

bound

if True, does not strip string boundaries like "string<=10"

Definition at line 309 of file generate_msgs.py.

shutdown()

shutdown

(

cls

)

Definition at line 316 of file generate_msgs.py.

Member Data Documentation

DDS_TYPES

dict DDS_TYPES

static

Initial value:

=  {"boolean":             "bool",
                 "float":               "float32",
                 "double":              "float64",
                 "octet":               "byte",
                 "short":               "int16",
                 "unsigned short":      "uint16",
                 "long":                "int32",
                 "unsigned long":       "uint32",
                 "long long":           "int64",
                 "unsigned long long":  "uint64"}

ROS2 Data Distribution Service types to ROS built-ins.

Definition at line 176 of file generate_msgs.py.

NODE

NODE = None

static

rclpy.Node instance

Definition at line 138 of file generate_msgs.py.

ROS_BUILTIN_TYPES

list ROS_BUILTIN_TYPES = ROS_NUMERIC_TYPES + ROS_STRING_TYPES

static

All built-in basic types in ROS.

Definition at line 148 of file generate_msgs.py.

ROS_INTEGER_RANGES

ROS_INTEGER_RANGES

static

Initial value:

=  dict({
        "byte":   (-2** 7, 2** 7 - 1),
        "int8":   (-2** 7, 2** 7 - 1),
        "int16":  (-2**15, 2**15 - 1),
        "int32":  (-2**31, 2**31 - 1),
        "int64":  (-2**63, 2**63 - 1),
        "char":   (0,      2** 8 - 1),
        "uint8":  (0,      2** 8 - 1),
        "uint16": (0,      2**16 - 1),
        "uint32": (0,      2**31 - 1),
        "uint64": (0,      2**64 - 1),
    }, **{
        "byte":   (0,      2** 8 - 1),
        "char":   (-2** 7, 2** 7 - 1),
    } if rclpy else {})

Value ranges for ROS integer types, as {typename: (min, max)}.

Definition at line 159 of file generate_msgs.py.

ROS_NUMERIC_TYPES

list ROS_NUMERIC_TYPES

static

Initial value:

=  ["byte", "char", "int8", "int16", "int32", "int64", "uint8",
                         "uint16", "uint32", "uint64", "float32", "float64", "bool"]

All built-in numeric types in ROS.

Definition at line 141 of file generate_msgs.py.

ROS_STRING_TYPES

list ROS_STRING_TYPES = ["string", "wstring"]

static

All built-in string types in ROS.

Definition at line 145 of file generate_msgs.py.

ROS_TIME_CLASSES [1/2]

dict ROS_TIME_CLASSES

static

Initial value:

=  {rospy.Time: "time", rospy.Duration: "duration",
                        genpy.Time: "time", genpy.Duration: "duration"} if rospy else \
                       {rclpy.time.Time:                 "builtin_interfaces/Time",
                        builtin_interfaces.msg.Time:     "builtin_interfaces/Time",
                        rclpy.duration.Duration:         "builtin_interfaces/Duration",
                        builtin_interfaces.msg.Duration: "builtin_interfaces/Duration"}

ROS time/duration types mapped to type names.

Definition at line 151 of file generate_msgs.py.

ROS_TIME_CLASSES [2/2]

ROS_TIME_CLASSES

Definition at line 285 of file generate_msgs.py.

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The documentation for this class was generated from the following file:

• /home/user/ros1/src/grepros/scripts/generate_msgs.py