rosros.rospify.core Namespace Reference

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

Functions
	get_node_uri ()
	Returns empty string (ROS1 compatibility stand-in).
	get_ros_root (required=False, env=None)
	Returns rclpy share directory.
	is_shutdown ()
	Returns whether ROS2 has been started and shut down.
	parse_rosrpc_uri (uri)
	Utility function for parsing ROS-RPC URIs.
	signal_shutdown (reason)
	Initiates shutdown process.

Variables
str	ROSRPC = "rosrpc://"

Detailed Description

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

Function Documentation

get_node_uri()

rosros.rospify.core.get_node_uri

(

)

Returns empty string (ROS1 compatibility stand-in).

Definition at line 40 of file core.py.

get_ros_root()

rosros.rospify.core.get_ros_root	(		required = False,
			env = None
	)

Returns rclpy share directory.

In ROS1, this returns a path along the lines of "/opt/ros/noetic/share/ros".

Parameters

env	ignored (ROS1 compatibility stand-in)
required	fail with ROSException if not found

Returns

rclpy share directory path

Exceptions

ROSException

if `require` is True and result unavailable

Definition at line 55 of file core.py.

is_shutdown()

rosros.rospify.core.is_shutdown

(

)

Returns whether ROS2 has been started and shut down.

Definition at line 26 of file core.py.

parse_rosrpc_uri()

rosros.rospify.core.parse_rosrpc_uri

(

uri

)

Utility function for parsing ROS-RPC URIs.

Parameters

uri	ROSRPC URI

Returns

(address, port)

Exceptions

ParameterInvalid

if uri is not a valid ROSRPC URI

Definition at line 73 of file core.py.

signal_shutdown()

rosros.rospify.core.signal_shutdown

(

reason

)

Initiates shutdown process.

Parameters

reason

ignored (ROS1 compatibility stand-in)

Definition at line 36 of file core.py.

Variable Documentation

ROSRPC

str rosros.rospify.core.ROSRPC = "rosrpc://"

Definition at line 64 of file core.py.