|
| | calculate_definition_hash (typename, msgdef, extradefs=()) |
| | Returns MD5 hash for message type definition.
|
| |
| | canonical (typename, unbounded=False) |
| | Returns "pkg/Type" for "pkg/subdir/Type", standardizes various ROS2 formats.
|
| |
| | create_publisher (topic, cls_or_typename, queue_size) |
| | Returns a ROS publisher instance, with .get_num_connections() and .unregister().
|
| |
| | create_subscriber (topic, cls_or_typename, handler, queue_size) |
| | Returns a ROS subscriber instance.
|
| |
| | deserialize_message (msg, cls_or_typename) |
| | Returns ROS message or service request/response instantiated from serialized binary.
|
| |
| | dict_to_message (dct, msg) |
| | Returns given ROS message populated from Python dictionary.
|
| |
| | filter_fields (fieldmap, top=(), include=(), exclude=()) |
| | Returns fieldmap filtered by include and exclude patterns.
|
| |
| | format_message_value (msg, name, value) |
| | Returns a message attribute value as string.
|
| |
| | get_alias_type (typename) |
| | Returns ROS built-in type for alias like "char", if any; reverse of get_alias_type().
|
| |
| | get_message_class (typename) |
| | Returns ROS message class, or None if unavailable.
|
| |
| | get_message_definition (msg_or_type) |
| | Returns ROS message type definition full text, including subtype definitions.
|
| |
| | get_message_fields (val) |
| | Returns OrderedDict({field name: field type name}) if ROS message, else {}.
|
| |
| | get_message_type (msg_or_cls) |
| | Returns ROS message type name, like "std_msgs/Header".
|
| |
| | get_message_type_hash (msg_or_type) |
| | Returns ROS message type MD5 hash, or "" if unknown type.
|
| |
| | get_message_value (msg, name, typename=None, default=Ellipsis) |
| | Returns object attribute value, with numeric arrays converted to lists.
|
| |
| | get_ros_time_category (msg_or_type) |
| | Returns "time" or "duration" for time/duration type or instance, else original argument.
|
| |
| | get_rostime (fallback=False) |
| | Returns current ROS time, as rospy.Time or rclpy.time.Time.
|
| |
| | get_topic_types () |
| | Returns currently available ROS topics, as [(topicname, typename)].
|
| |
| | get_type_alias (typename) |
| | Returns alias like "char" for ROS built-in type, if any; reverse of get_type_alias().
|
| |
| | init_node (name=None) |
| | Initializes a ROS1 or ROS2 node if not already initialized.
|
| |
| | is_ros_message (val, ignore_time=False) |
| | Returns whether value is a ROS message or special like ROS time/duration class or instance.
|
| |
| | is_ros_time (val) |
| | Returns whether value is a ROS time/duration class or instance.
|
| |
| | iter_message_fields (msg, messages_only=False, flat=False, scalars=(), include=(), exclude=(), top=()) |
| | Yields ((nested, path), value, typename) from ROS message.
|
| |
| | make_bag_time (stamp, bag) |
| | Returns value as ROS timestamp, conditionally as relative to bag start/end time.
|
| |
| | make_duration (secs=0, nsecs=0) |
| | Returns a ROS duration.
|
| |
| | make_full_typename (typename, category="msg") |
| | Returns "pkg/msg/Type" for "pkg/Type".
|
| |
| | make_live_time (stamp) |
| | Returns value as ROS timestamp, conditionally as relative to system time.
|
| |
| | make_message_hash (msg, include=(), exclude=()) |
| | Returns hashcode for ROS message, as a hex digest.
|
| |
| | make_time (secs=0, nsecs=0) |
| | Returns a ROS time.
|
| |
| | message_to_dict (msg, replace=None) |
| | Returns ROS message as nested Python dictionary.
|
| |
| | parse_definition_fields (typename, typedef) |
| | Returns field names and type names from a message definition text.
|
| |
| | parse_definition_subtypes (typedef, nesting=False) |
| | Returns subtype names and type definitions from a full message definition.
|
| |
| | scalar (typename) |
| | Returns scalar type from ROS message data type, like "uint8" from uint8-array.
|
| |
| | serialize_message (msg) |
| | Returns ROS message as a serialized binary.
|
| |
| | set_message_value (obj, name, value) |
| | Sets message or object attribute value.
|
| |
| | shutdown_node () |
| | Shuts down live ROS node.
|
| |
| | time_message (val, to_message=True, clock_type=None) |
| | Converts ROS2 time/duration between rclpy and builtin_interfaces objects.
|
| |
| | to_datetime (val) |
| | Returns value as datetime.datetime if value is ROS time/duration, else value.
|
| |
| | to_decimal (val) |
| | Returns value as decimal.Decimal if value is ROS time/duration, else value.
|
| |
| | to_duration (val) |
| | Returns value as ROS duration if convertible (int/float/time/datetime/decimal), else value.
|
| |
| | to_nsec (val) |
| | Returns value in nanoseconds if value is ROS time/duration, else value.
|
| |
| | to_sec (val) |
| | Returns value in seconds if value is ROS time/duration, else value.
|
| |
| | to_sec_nsec (val) |
| | Returns value as (seconds, nanoseconds) if value is ROS time/duration, else value.
|
| |
| | to_time (val) |
| | Returns value as ROS time if convertible (int/float/duration/datetime/decimal), else value.
|
| |
| | validate (live=False) |
| | Initializes ROS bindings, returns whether ROS environment set, prints or raises error if not.
|
| |
|
| tuple | BAG_EXTENSIONS = () |
| | Bagfile extensions to seek, including leading dot, populated after init.
|
| |
| str | NODE_NAME = "grepros" |
| | Node base name for connecting to ROS (will be anonymized).
|
| |
| | realapi = None |
| | Module grepros.ros1 or grepros.ros2.
|
| |
| | ROS1 = None |
| | Flag denoting ROS1 environment, populated on validate()
|
| |
| | ROS2 = None |
| | Flag denoting ROS2 environment, populated on validate()
|
| |
| dict | ROS_ALIAS_TYPES = {} |
| | Mapping between type aliases and real types, like {"byte": "int8"} in ROS1.
|
| |
| dict | ROS_BUILTIN_CTORS |
| | Python constructors for ROS built-in types, as {ROS name: type class}.
|
| |
| list | ROS_BUILTIN_TYPES = ROS_NUMERIC_TYPES + ROS_STRING_TYPES |
| | All built-in basic types in ROS.
|
| |
| list | ROS_COMMON_TYPES = [] |
| | All built-in basic types plus time types in ROS, populated after init.
|
| |
| | ROS_FAMILY = None |
| | ROS Python module family, "rospy" or "rclpy", populated on validate()
|
| |
| 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 = {} |
| | ROS1 time/duration types mapped to type names, populated after init.
|
| |
| list | ROS_TIME_TYPES = [] |
| | ROS time/duration types, populated after init.
|
| |
| | ROS_VERSION = None |
| | ROS version from environment, populated on validate() as integer.
|
| |
| tuple | SKIP_EXTENSIONS = () |
| | Bagfile extensions to skip, including leading dot, populated after init.
|
| |
ROS interface, shared facade for ROS1 and ROS2.
1.9.7