rosros.rclify.rclify Namespace Reference

Stand-in for `rclpy` in ROS1. More...

Functions
	create_node (node_name, *context=None, cli_args=None, namespace=None, use_global_arguments=True, enable_rosout=True, start_parameter_services=True, parameter_overrides=None, allow_undeclared_parameters=False, automatically_declare_parameters_from_overrides=False)
	Initializes ROS1 and returns an instance of `rosros.rclify.node.Node`.
	get_default_context ()
	Returns None (ROS2 API compatibility stand-in).
	get_global_executor ()
	Returns None (ROS2 API compatibility stand-in).
	get_rmw_implementation_identifier ()
	Returns empty string (ROS2 API compatibility stand-in).
	init (*args=None, context=None)
	Does nothing (ROS2 API compatibility stand-in)
	ok (*context=None)
	Returns whether rospy has been initialized and is not shut down.
	shutdown (*context=None)
	Sends the shutdown signal to rospy.
	spin (node=None, executor=None)
	Waits forever.
	spin_once (node=None, *executor=None, timeout_sec=None)
	Waits until timeout or ROS shut down, or forever if timeout not specified.
	spin_until_future_complete (node=None, future=None, executor=None, timeout_sec=None)
	Waits until future complete or timeout reached or ROS shut down.
	try_shutdown (*context=None)
	Sends the shutdown signal to rospy.

Detailed Description

Stand-in for `rclpy` in ROS1.

Heavily modified copy from ROS2 `rclpy`, at https://github.com/ros2/rclpy (`rclpy/rclpy/__init__.py`), released under the Apache 2.0 License.

Function Documentation

create_node()

rosros.rclify.rclify.create_node	(		node_name,
		*	context = None,
			cli_args = None,
			namespace = None,
			use_global_arguments = True,
			enable_rosout = True,
			start_parameter_services = True,
			parameter_overrides = None,
			allow_undeclared_parameters = False,
			automatically_declare_parameters_from_overrides = False
	)

Initializes ROS1 and returns an instance of `rosros.rclify.node.Node`.

Parameters

node_name	a name to give to the node
context	ignored (ROS2 API compatibility stand-in)
cli_args	command-line arguments to be used by the node
namespace	node namespace
use_global_arguments	should the node use process-wide command-line arguments
enable_rosout	publish logging to `/rosout`
start_parameter_services	ignored (ROS2 API compatibility stand-in)
parameter_overrides	list of `Parameter` to override the initial values of parameters declared on the node
allow_undeclared_parameters	allow undeclared parameters; this option doesn't affect `parameter_overrides`
automatically_declare_parameters_from_overrides	implicitly declare parameters from `parameter_overrides`

Returns

`rosros.rclify.node.Node`

Definition at line 70 of file rclify.py.

get_default_context()

rosros.rclify.rclify.get_default_context

(

)

Returns None (ROS2 API compatibility stand-in).

Definition at line 119 of file rclify.py.

get_global_executor()

rosros.rclify.rclify.get_global_executor

(

)

Returns None (ROS2 API compatibility stand-in).

Definition at line 124 of file rclify.py.

get_rmw_implementation_identifier()

rosros.rclify.rclify.get_rmw_implementation_identifier

(

)

Returns empty string (ROS2 API compatibility stand-in).

Definition at line 129 of file rclify.py.

init()

rosros.rclify.rclify.init	(	*	args = None,
			context = None
	)

Does nothing (ROS2 API compatibility stand-in)

Parameters

args	ignored (ROS2 API compatibility stand-in)
context	ignored (ROS2 API compatibility stand-in)

Definition at line 48 of file rclify.py.

ok()

rosros.rclify.rclify.ok

(

*

context = None

)

Returns whether rospy has been initialized and is not shut down.

Parameters

context

ignored (ROS2 API compatibility stand-in)

Definition at line 139 of file rclify.py.

shutdown()

rosros.rclify.rclify.shutdown

(

*

context = None

)

Sends the shutdown signal to rospy.

Parameters

context

ignored (ROS2 API compatibility stand-in)

Definition at line 148 of file rclify.py.

spin()

rosros.rclify.rclify.spin	(		node = None,
			executor = None
	)

Waits forever.

Parameters

node	ignored (ROS2 API compatibility stand-in)
executor	ignored (ROS2 API compatibility stand-in)

Definition at line 103 of file rclify.py.

spin_once()

rosros.rclify.rclify.spin_once	(		node = None,
		*	executor = None,
			timeout_sec = None
	)

Waits until timeout or ROS shut down, or forever if timeout not specified.

Parameters

node	ignored (ROS2 API compatibility stand-in)
executor	ignored (ROS2 API compatibility stand-in)
timeout_sec	time to wait, as seconds or ROS1 duration

Definition at line 93 of file rclify.py.

spin_until_future_complete()

rosros.rclify.rclify.spin_until_future_complete	(		node = None,
			future = None,
			executor = None,
			timeout_sec = None
	)

Waits until future complete or timeout reached or ROS shut down.

Parameters

node	ignored (ROS2 API compatibility stand-in)
future	object with `concurrent.futures.Future`-conforming interface to complete
executor	ignored (ROS2 API compatibility stand-in)
timeout_sec	time to wait, as seconds or ROS1 duration

Definition at line 115 of file rclify.py.

try_shutdown()

rosros.rclify.rclify.try_shutdown

(

*

context = None

)

Sends the shutdown signal to rospy.

Parameters

context

ignored (ROS2 API compatibility stand-in)

Definition at line 157 of file rclify.py.