patch.py File Reference

Go to the source code of this file.

Namespaces
namespace	rosros
	Simple unified interface to ROS1 / ROS2.
namespace	rosros.patch
	Patches ROS1 classes with ROS2-compatible members, and vice versa.

Functions
	rosros.patch.client_call_wrapper (call)
	Returns service client call-function wrapped to ensure invoke with request instance.
	rosros.patch.Duration__abs (self)
	Returns absolute value of this duration.
	rosros.patch.Duration__add (self, other)
	Returns a new duration, adding given duration to this.
	rosros.patch.Duration__divmod (self, val)
	Returns the divmod result for this and another duration.
	rosros.patch.Duration__floordiv (self, val)
	Floor-divides this duration by a number or a duration.
	rosros.patch.Duration__from_msg (cls, msg)
	Returns a new Duration from given.
	rosros.patch.Duration__init (self, secs=0, nsecs=0, *seconds=0, nanoseconds=0)
	Constructs a new `Duration`, using either ROS1 or ROS2 arguments.
	rosros.patch.Duration__mod (self, val)
	Returns the remainder of dividing this duration by another duration.
	rosros.patch.Duration__mul (self, val)
	Multiplies this duration by an integer or float.
	rosros.patch.Duration__neg (self)
	Returns negative value of this duration.
	rosros.patch.Duration__sub (self, other)
	Subtracts a duration from this duration.
	rosros.patch.Duration__truediv (self, val)
	Divides this duration by an integer or float.
	rosros.patch.patch_ros1 ()
	Patches ROS1 classes with generic compatibility with ROS2 and rosros.
	rosros.patch.patch_ros1_rclify ()
	Patches ROS1 classes with full stand-ins for ROS2 methods and properties.
	rosros.patch.patch_ros2 ()
	Patches ROS2 classes with full stand-ins for ROS1 methods and properties.
	rosros.patch.publish_wrapper (publish)
	Returns publish-function wrapped to ensure invoke with message instance.
	rosros.patch.Publisher__assert_liveliness (self)
	Does nothing (ROS2 compatibility stand-in).
	rosros.patch.Publisher__publish (self, *args, **kwds)
	Publishes message, supports giving message field values as dictionary in args[0].
	rosros.patch.Rate__remaining (self)
	Returns time remaining for rate to sleep, as `Duration`.
	rosros.patch.rostimer_sleep_on_event (duration, event=None)
	Sleeps for the specified duration in ROS time, or until event gets set.
	rosros.patch.Service__init (self, name, service_class, handler, buff_size=65536, error_handler=None)
	Wraps Service.__init__() to support returning None from server callback.
	rosros.patch.Service__init (self, service_handle, srv_type, srv_name, callback, callback_group, qos_profile)
	Wraps Service.__init__() to support returning list/dict/None from server callback.
	rosros.patch.Service__spin (self)
	Spins ROS2 until service or node shutdown.
	rosros.patch.service_serve_wrapper (self, serve)
	Returns service serve-function wrapped to ensure return with response instance.
	rosros.patch.ServiceProxy__call (self, *args, **kwargs)
	Calls the service, supports giving request field values as dictionary in args[0].
	rosros.patch.ServiceProxy__call_async (self, *args, **kwargs)
	Make a service request and asyncronously get the result.
	rosros.patch.ServiceProxy__remove_pending_request (self, future)
	Does nothing (ROS2 compatibility stand-in).
	rosros.patch.ServiceProxy__service_is_ready (self)
	Returns whether service is ready.
	rosros.patch.ServiceProxy__wait_for_service (self, timeout=None, timeout_sec=None)
	Waits for a service server to become ready.
	rosros.patch.set_extra_attribute (obj, name, value)
	Sets value for object patched attribute.
	rosros.patch.Subscriber__init (self, name, data_class, callback=None, callback_args=None, queue_size=None, buff_size=65536, tcp_nodelay=False)
	Wraps rospy.Subscriber.__init__() to add raw bytes autoconversion support.
	rosros.patch.SubscriberImpl__receive_callback (self, msgs, connection)
	Wraps rospy.topics.SubscriberImpl.receive_callback() with raw bytes autoconversion.
	rosros.patch.Subscription__add_callback (self, cb, cb_args)
	Registers a callback to be invoked whenever a new message is received.
	rosros.patch.Subscription__callback_args (self)
	Returns callback args given in constructor.
	rosros.patch.Subscription__init (self, subscription_handle, msg_type, topic, callback, callback_group, qos_profile, raw, event_callbacks)
	Wraps Subscription.__init__() to support AnyMsg and multiple callbacks.
	rosros.patch.Subscription__invoke_callbacks (self, msg)
	Handler for received message, invokes all added callbacks.
	rosros.patch.Subscription__remove_callback (self, cb, cb_args)
	Unregisters a message callback.
	rosros.patch.Temporal__to_msg (self)
	Returns a new Time or Duration from this.
	rosros.patch.Time__clock_type (self)
	Returns the ClockType of this Time.
	rosros.patch.Time__del (self)
	Clear object-related data, if any.
	rosros.patch.Time__from_msg (cls, msg, clock_type=ClockType.ROS_TIME)
	Returns a new Time from given.
	rosros.patch.Time__init (self, secs=0, nsecs=0, *seconds=0, nanoseconds=0, clock_type=ClockType.SYSTEM_TIME)
	Constructs a new ROS1 `Time`, using either ROS1 or ROS2 arguments.
	rosros.patch.Time__seconds_nanoseconds (self)
	Returns time as (seconds, nanoseconds).
	rosros.patch.Timer__cancel (self)
	Sets timer on pause, until reset or shutdown.
	rosros.patch.Timer__clock (self)
	Returns the Clock used by this timer.
	rosros.patch.Timer__getName (self)
	Returns timer name.
	rosros.patch.Timer__ident (self)
	Returns timer identifier as a non-negative integer.
	rosros.patch.Timer__init (self, callback, callback_group, timer_period_ns, clock, *context=None)
	Constructs a new ROS2 `Timer`.
	rosros.patch.Timer__init (self, period, callback, oneshot=False, reset=False)
	Constructs a new ROS1 Timer.
	rosros.patch.Timer__is_alive (self)
	Returns whether timer is still running.
	rosros.patch.Timer__is_canceled (self)
	Returns whether the timer has been canceled (paused until reset or shutdown).
	rosros.patch.Timer__is_ready (self)
	Returns whether timer callback should be called right now.
	rosros.patch.Timer__isDaemon (self)
	Returns `True`.
	rosros.patch.Timer__join (self)
	Returns when timer has terminated.
	rosros.patch.Timer__reset (self)
	Sets last call time to now, postponing next callback by full period; uncancels if canceled.
	rosros.patch.Timer__run (self)
	Override rospy.Timer.run() to support canceling and resetting, and call timestamps.
	rosros.patch.Timer__setDaemon (self, daemonic)
	Raises error.
	rosros.patch.Timer__setName (self, name)
	Sets timer name.
	rosros.patch.Timer__shutdown (self)
	Stop firing callbacks.
	rosros.patch.Timer__time_since_last_call (self)
	Returns nanoseconds since last timer callback (ROS2 compatibility stand-in).
	rosros.patch.Timer__time_until_next_call (self)
	Returns nanoseconds until next timer callback (ROS2 compatibility stand-in).
	rosros.patch.Timer__timer_period_ns (self)
	Returns timer period in nanoseconds.
	rosros.patch.Timer__timer_period_ns__setter (self, value)
	Sets timer period in nanoseconds, resets timer if running.
	rosros.patch.TVal__is_nonzero (self)
	Returns whether value is not zero.
	rosros.patch.TVal__is_zero (self)
	Returns whether value is zero.
	rosros.patch.TVal__nsecs (self)
	Returns the nanoseconds portion as `int`.
	rosros.patch.TVal__secs (self)
	Returns the seconds portion as `int`.
	rosros.patch.TVal__to_nsec (self)
	Returns value in nanoseconds as `int`.
	rosros.patch.TVal__to_sec (self)
	Returns value in seconds as `float`.

Variables
	rosros.patch._anymsg
	rosros.patch._callbacks
	rosros.patch._clock
	rosros.patch._invoke_callbacks
	rosros.patch._name
	rosros.patch._paused
	rosros.patch._period
	rosros.patch._shutdown
	rosros.patch._time_last
	rosros.patch._time_next
	rosros.patch._wakeable
	rosros.patch.call
	rosros.patch.data_class
dict	rosros.patch.EXTRA_ATTRS = {}
	Extra attributes for objects with __slots__, as {id(obj): {attrname: attrval}}.
	rosros.patch.impl
	rosros.patch.nanoseconds
	rosros.patch.nsecs
bool	rosros.patch.PATCHED = False
	Whether generic patching has been done during this runtime.
bool	rosros.patch.PATCHED_FULL = False
	Whether full patching has been done during this runtime.
	rosros.patch.resolved_name
	rosros.patch.ROS1_Duration__init = rospy.Duration.__init__
	rosros.patch.ROS1_Publisher__publish = rospy.Publisher.publish
	rosros.patch.ROS1_Service__init = rospy.Service.__init__
	rosros.patch.ROS1_ServiceProxy__call = rospy.ServiceProxy.call
	rosros.patch.ROS1_Subscriber__init = rospy.Subscriber.__init__
	rosros.patch.ROS1_SubscriberImpl__receive_callback = rospy.topics._SubscriberImpl.receive_callback
	rosros.patch.ROS1_Time__init = rospy.Time.__init__
	rosros.patch.ROS1_Timer__init = rospy.Timer.__init__
	rosros.patch.ROS2_Duration__init = rclpy.duration.Duration.__init__
	rosros.patch.ROS2_Service__init = rclpy.service.Service.__init__
	rosros.patch.ROS2_Subscription__init = rclpy.subscription.Subscription.__init__
	rosros.patch.ROS2_Time__init = rclpy.time.Time.__init__
	rosros.patch.ROS2_Timer__init = rclpy.timer.Timer.__init__
	rosros.patch.rospy = None
	rosros.patch.secs
int	rosros.patch.TIMER_COUNTER = 0