rosros.rospify.client Namespace Reference

Stand-ins for `rospy.client` in ROS2. More...

Classes
class	_unspecified

Functions
	delete_param (param_name)
	Deletes a parameter on the node.
	get_master (env=None)
	Returns a partial stand-in of `rospy.MasterProxy`.
	get_param (param_name, default=_unspecified)
	Returns a parameter value from the node.
	get_param_names ()
	Returns a list of node parameter names, with absolute namespace.
	get_published_topics (namespace="/")
	Returns a list of published topics.
	has_param (param_name)
	Test if parameter exists on the node.
	init_node (name, argv=None, anonymous=False, log_level=None, disable_rostime=None, disable_rosout=False, disable_signals=None, xmlrpc_port=None, tcpros_port=None)
	Inits ROS2 and creates ROS2 node.
	myargv (argv=None)
	Returns command-line arguments with remappings removed.
	on_shutdown (h)
	Registers function to be called on shutdown, after node has been torn down.
	search_param (param_name)
	Search for a parameter on the node.
	set_param (param_name, param_value)
	Set a parameter on the node.
	spin ()
	Spins ROS2 node forever.
	wait_for_message (topic, topic_type, timeout=None)
	Receive one message from topic.

Variables
dict	_ROSPY_LOG_LEVEL_TO_PY_LEVEL
	Map rospy log level constants to Python logging level constants.
int	DEBUG = 1
int	ERROR = 8
int	FATAL = 16
	get_param_cached = get_param
	Stand-in for `rospy.get_param_cached`.
int	INFO = 2
int	WARN = 4

Detailed Description

Stand-ins for `rospy.client` in ROS2.

Function Documentation

delete_param()

rosros.rospify.client.delete_param

(

param_name

)

Deletes a parameter on the node.

Parameters

param_name

parameter name

Definition at line 60 of file client.py.

get_master()

rosros.rospify.client.get_master

(

env = None

)

Returns a partial stand-in of `rospy.MasterProxy`.

Parameters

env	ignored (ROS1 compatbility stand-in)

Definition at line 78 of file client.py.

get_param()

rosros.rospify.client.get_param	(		param_name,
			default = _unspecified
	)

Returns a parameter value from the node.

Parameters

default

default value to return if key is not set

Returns

parameter value

Exceptions

KeyError

if value not set and default is not given

Definition at line 89 of file client.py.

get_param_names()

rosros.rospify.client.get_param_names

(

)

Returns a list of node parameter names, with absolute namespace.

Definition at line 99 of file client.py.

get_published_topics()

rosros.rospify.client.get_published_topics

(

namespace = "/"

)

Returns a list of published topics.

Returns

list of topic and type names, as [[topic, type], ]

Exceptions

ROSException

if retrieving topics fails

Definition at line 112 of file client.py.

has_param()

rosros.rospify.client.has_param

(

param_name

)

Test if parameter exists on the node.

Parameters

param_name

parameter name

Definition at line 69 of file client.py.

init_node()

rosros.rospify.client.init_node	(		name,
			argv = None,
			anonymous = False,
			log_level = None,
			disable_rostime = None,
			disable_rosout = False,
			disable_signals = None,
			xmlrpc_port = None,
			tcpros_port = None
	)

Inits ROS2 and creates ROS2 node.

Parameters

name	node name, with no namespace
argv	list of command-line arguments for the node
anonymous	whether to auto-generate a unique name for the node, using the given name as base
log_level	log level to set for the node logger, one of `rospify.DEBUG .INFO .WARN .ERROR .FATAL`
disable_rostime	ignored (ROS1 compatibility stand-in)
disable_rosout	whether to suppress auto-publication of rosout
disable_signals	ignored (ROS1 compatibility stand-in)
xmlrpc_port	ignored (ROS1 compatibility stand-in)
tcpros_port	ignored (ROS1 compatibility stand-in)

Definition at line 139 of file client.py.

myargv()

rosros.rospify.client.myargv

(

argv = None

)

Returns command-line arguments with remappings removed.

Parameters

argv	arguments to use if not `sys.argv`

Returns

list of arguments with remappings removed

Definition at line 159 of file client.py.

on_shutdown()

rosros.rospify.client.on_shutdown

(

h

)

Registers function to be called on shutdown, after node has been torn down.

Definition at line 170 of file client.py.

search_param()

rosros.rospify.client.search_param

(

param_name

)

Search for a parameter on the node.

Parameters

param_name

parameter name

Returns

key of matching parameter or None if no matching parameter

Definition at line 180 of file client.py.

set_param()

rosros.rospify.client.set_param	(		param_name,
			param_value
	)

Set a parameter on the node.

If param_value is a dictionary, it will be treated as a parameter tree, where param_name is the namespace. For example:::

{"x": 1, "y": 2, "sub": {"z": 3}}

will set param_name.x=1, param_name.y=2, and param_name.sub.z=3. Furthermore, it will replace all existing parameters in the param_name namespace with the parameters in param_value. You must set parameters individually if you wish to perform a union update.

Parameters

param_name	parameter name
param_value	parameter value

Definition at line 205 of file client.py.

spin()

rosros.rospify.client.spin

(

)

Spins ROS2 node forever.

Definition at line 218 of file client.py.

wait_for_message()

rosros.rospify.client.wait_for_message	(		topic,
			topic_type,
			timeout = None
	)

Receive one message from topic.

This will create a new subscription to the topic, receive one message, then unsubscribe.

Parameters

topic	name of topic
topic_type	topic type class
timeout	timeout time in seconds or ROS Duration

Returns

ROS message

Exceptions

ROSException	if specified timeout is exceeded
ROSInterruptException	if shutdown interrupts wait

Definition at line 235 of file client.py.

Variable Documentation

_ROSPY_LOG_LEVEL_TO_PY_LEVEL

rosros.rospify.client._ROSPY_LOG_LEVEL_TO_PY_LEVEL

protected

Map rospy log level constants to Python logging level constants.

Definition at line 40 of file client.py.

DEBUG

int rosros.rospify.client.DEBUG = 1

Definition at line 29 of file client.py.

ERROR

int rosros.rospify.client.ERROR = 8

Definition at line 32 of file client.py.

FATAL

int rosros.rospify.client.FATAL = 16

Definition at line 33 of file client.py.

get_param_cached

rosros.rospify.client.get_param_cached = get_param

Stand-in for `rospy.get_param_cached`.

Definition at line 96 of file client.py.

INFO

int rosros.rospify.client.INFO = 2

Definition at line 30 of file client.py.

WARN

int rosros.rospify.client.WARN = 4

Definition at line 31 of file client.py.