rosros | ROS API helpers

ROS API helpers

Functionality for working with message types and data and metainfo. Can be used as stand-alone library functions without initializing rosros core.

Name	Description	Arguments

	Message types and instances
`rosros.api.get_message_class`	returns ROS message / service class object, like `std_msgs.msg.Bool` for `"std_msgs/Bool"`	`msg_or_type`
`rosros.api.get_message_definition`	returns ROS message or service request/response type definition text,	`msg_or_type, full=True`
	by default including message subtype definitions
`rosros.api.get_message_fields`	returns `{field name: field type name}` if ROS message or service request/response, else `{}`	`val`
`rosros.api.get_message_header`	returns message `Header`-attribute if any, else `None`	`val`
`rosros.api.get_message_type`	returns ROS message / service canonical type name, like `"std_msgs/Header"`	`msg_or_cls`
	or `"*"` for `AnyMsg`
`rosros.api.get_message_type_hash`	returns ROS message / service type MD5 hash	`msg_or_type`
`rosros.api.get_message_value`	returns message attribute value, with numeric arrays converted to lists	`msg, name, default=...`
`rosros.api.is_ros_message`	returns whether value is a ROS message or service request/response class or instance	`val`

	Message conversion
`rosros.api.deserialize_message`	returns ROS message or service request/response instantiated from serialized binary	`raw, cls_or_typename`
`rosros.api.dict_to_message`	returns ROS message populated from Python dictionary	`dct, msg_or_type`
`rosros.api.message_to_dict`	returns ROS message as nested Python dictionary;	`msg, replace=None`
	with optional replacements for certain values like `{math.nan: None}`
`rosros.api.message_to_str`	returns ROS message as an evaluatable string, e.g. `"std_msgs.msg.UInt8(data=0)"`	`msg, indent=None`
`rosros.api.serialize_message`	returns ROS message or service request/response as a serialized binary of `bytes()`	`msg`

	Service classes and definitions
`rosros.api.get_service_definition`	returns ROS service type definition text	`srv_or_type`
`rosros.api.get_service_request_class`	returns ROS service request class object	`srv_or_type`
`rosros.api.get_service_response_class`	returns ROS service response class object	`srv_or_type`
`rosros.api.is_ros_service`	returns whether value is a ROS service class object	`val`

	Time and duration
`rosros.api.is_ros_time`	returns whether value is a ROS time/duration	`val`
`rosros.api.make_duration`	returns a ROS duration	`secs=0, nsecs=0`
`rosros.api.make_time`	returns a ROS time	`secs=0, nsecs=0`
`rosros.api.time_category`	returns "time" or "duration" for time/duration type, else value	`msg_or_type`
`rosros.api.time_message`	returns ROS2 time/duration from `rclpy` as `builtin_interfaces` or vice versa,	`val, to_message=True, clock_type=None`
	or value if not convertible
`rosros.api.to_datetime`	returns value as `datetime.datetime` if value is ROS time/duration, else value	`val`
`rosros.api.to_decimal`	returns value as `decimal.Decimal` if value is ROS time/duration, else value	`val`
`rosros.api.to_duration`	returns value as ROS duration if convertible (int/float/time/datetime/decimal), else value	`val`
`rosros.api.to_nsec`	returns value in nanoseconds if value is ROS time/duration, else value	`val`
`rosros.api.to_sec`	returns value in seconds if value is ROS time/duration, else value	`val`
`rosros.api.to_sec_nsec`	returns value in (seconds, nanoseconds) if value is ROS time/duration, else value	`val`
`rosros.api.to_time`	returns value as ROS time if convertible (int/float/duration/datetime/decimal), else value	`val`

	Class and type names
`rosros.api.canonical`	returns `"pkg/Type"` for `"pkg/subdir/Type"`	`typename`
`rosros.api.get_alias_type`	returns ROS built-in type for alias like `"char"`, if any; reverse of `get_type_alias()`.	`typename`
	In ROS1, `byte` and `char` are aliases for `int8` and `uint8`; in ROS2 the reverse.
`rosros.api.get_type_alias`	returns alias like `"char"` for ROS built-in type, if any; reverse of `get_alias_type()`.	`typename`
	In ROS1, `byte` and `char` are aliases for `int8` and `uint8`; in ROS2 the reverse.
`rosros.api.make_full_typename`	returns `"pkg/msg/Type"` or `"pkg/srv/Type"` for `"pkg/Type"`	`typename, category="msg"`
`rosros.api.scalar`	returns scalar type from ROS message data type, like `"uint8"` from `uint8`-array;	`typename`
	in ROS2, returns unbounded type, e.g. `"string"` from `"string<=10[<=5]"`.

	Miscellaneous
`rosros.api.format_param_name`	returns parameter name with correct separator for ROS version, and leading sigils stripped	`name`
`rosros.api.PARAM_SEPARATOR`	separator char between ROS parameter namespace parts
`rosros.api.ROS_BUILTIN_TYPES`	list of ROS built-in numeric and string type names, like `["string", "uint8", ..]`
`rosros.api.ROS_NUMERIC_TYPES`	list of ROS built-in numeric type names, like `["bool", "int8", ..]`
`rosros.api.ROS_STRING_TYPES`	list of ROS built-in string type names
`rosros.api.ROS_TIME_CLASSES`	ROS time/duration types mapped to type names
`rosros.api.ROS_TIME_TYPES`	list of ROS built-in time/duration type names