ros2.py File Reference

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Classes
class	ROS2Bag
	ROS2 bag reader and writer (SQLite format), providing most of rosbag.Bag interface. More...

Namespaces
namespace	grepros
namespace	grepros.ros2
	ROS2 interface.

Functions
	canonical (typename, unbounded=False)
	Returns "pkg/Type" for "pkg/msg/Type", standardizes various ROS2 formats.
	create_publisher (topic, cls_or_typename, queue_size)
	Returns an rclpy.Publisher instance, with .get_num_connections() and .unregister().
	create_subscriber (topic, cls_or_typename, handler, queue_size)
	Returns an rclpy.Subscription.
	deserialize_message (raw, cls_or_typename)
	Returns ROS2 message or service request/response instantiated from serialized binary.
	format_message_value (msg, name, value)
	Returns a message attribute value as string.
	get_message_class (typename)
	Returns ROS2 message class, or None if unknown type.
	get_message_definition (msg_or_type)
	Returns ROS2 message type definition full text, including subtype definitions.
	get_message_definition_idl (typename)
	Returns ROS2 message type definition parsed from IDL file.
	get_message_fields (val)
	Returns OrderedDict({field name: field type name}) if ROS2 message, else {}.
	get_message_type (msg_or_cls)
	Returns ROS2 message type name, like "std_msgs/Header".
	get_message_type_hash (msg_or_type)
	Returns ROS2 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_rostime (fallback=False)
	Returns current ROS2 time, as rclpy.time.Time.
	get_topic_types ()
	Returns currently available ROS2 topics, as [(topicname, typename)].
	init_node (name)
	Initializes a ROS2 node if not already initialized.
	is_ros_message (val, ignore_time=False)
	Returns whether value is a ROS2 message or special like ROS2 time/duration class or instance.
	is_ros_time (val)
	Returns whether value is a ROS2 time/duration class or instance.
	make_duration (secs=0, nsecs=0)
	Returns an rclpy.duration.Duration.
	make_full_typename (typename)
	Returns "pkg/msg/Type" for "pkg/Type".
	make_subscriber_qos (topic, typename, queue_size=10)
	Returns rclpy.qos.QoSProfile that matches the most permissive publisher.
	make_time (secs=0, nsecs=0)
	Returns a ROS2 time, as rclpy.time.Time.
	qos_to_dict (qos)
	Returns rclpy.qos.QoSProfile as dictionary.
	scalar (typename)
	Returns unbounded scalar type from ROS2 message data type.
	serialize_message (msg)
	Returns ROS2 message as a serialized binary.
	set_message_value (obj, name, value)
	Sets message or object attribute value.
	shutdown_node ()
	Shuts down live ROS2 node.
	time_message (val, to_message=True, clock_type=None)
	Converts ROS2 time/duration between rclpy and builtin_interfaces objects.
	to_duration (val)
	Returns value as ROS2 duration if convertible (int/float/time/datetime/decimal), else value.
	to_nsec (val)
	Returns value in nanoseconds if value is ROS2 time/duration, else value.
	to_sec (val)
	Returns value in seconds if value is ROS2 time/duration, else value.
	to_sec_nsec (val)
	Returns value as (seconds, nanoseconds) if value is ROS2 time/duration, else value.
	to_time (val)
	Returns value as ROS2 time if convertible, else value.
	validate (live=False)
	Returns whether ROS2 environment is set, prints error if not.

Variables
	Bag = ROS2Bag
tuple	BAG_EXTENSIONS = (".db3", )
	Bagfile extensions to seek.
	context = None
	rclpy.context.Context instance
dict	DDS_TYPES
	Data Distribution Service types to ROS builtins.
	executor = None
	rclpy.executors.Executor instance
	node = None
	rclpy.node.Node instance
dict	ROS_ALIAS_TYPES = {"byte": "uint8", "char": "int8"}
	Mapping between type aliases and real types, like {"byte": "uint8"}.
dict	ROS_TIME_CLASSES
	ROS2 time/duration types and message types mapped to type names.
dict	ROS_TIME_MESSAGES
	ROS2 time/duration types mapped to message types.
list	ROS_TIME_TYPES = ["builtin_interfaces/Time", "builtin_interfaces/Duration"]
	ROS2 time/duration message types.
tuple	SKIP_EXTENSIONS = ()
	Bagfile extensions to skip.