Package rospy :: Module core

Module core

rospy internal core implementation library

Classes
	NullHandler

Functions

deprecated(func)
This is a decorator which can be used to mark functions as deprecated.

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(str, int)

parse_rosrpc_uri(uri)
utility function for parsing ROS-RPC URIs

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rospydebug(msg, *args)
Internal rospy client library debug logging

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rospyerr(msg, *args)
Internal rospy client library error logging

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rospywarn(msg, *args)
Internal rospy client library warn logging

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add_log_handler(level, h)
Add handler for specified level

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logdebug(msg, *args)
Log a debug message to the /rosout topic

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logwarn(msg, *args)
Log a warning message to the /rosout topic

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loginfo(msg, *args)
Log an info message to the /rosout topic

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logout(msg, *args)
Log an info message to the /rosout topic

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logerr(msg, *args)
Log an error message to the /rosout topic

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logerror(msg, *args)
Log an error message to the /rosout topic

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logfatal(msg, *args)
Log an error message to the /rosout topic

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str

get_ros_root(required=False, env=None)
Get the value of ROS_ROOT.

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str

get_node_uri()
Get this Node's URI.

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set_node_uri(uri)
set the URI of the local node.

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configure_logging(node_name, level=20)
Setup filesystem logging for this node

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bool

is_initialized()
Get the initialization state of the local node.

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set_initialized(initialized)
set the initialization state of the local node

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bool

is_shutdown()
Returns: True if shutdown flag has been set

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bool

is_shutdown_requested()
is_shutdown_requested is a state that occurs just before is_shutdown.

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add_client_shutdown_hook(h)
Add client method to invoke when system shuts down.

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add_preshutdown_hook(h)
Add method to invoke when system shuts down.

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add_shutdown_hook(h)
Add method to invoke when system shuts down.

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signal_shutdown(reason)
Initiates shutdown process by signaling objects waiting on _shutdown_lock.

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register_signals()
register system signal handlers for SIGTERM and SIGINT

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is_topic(param_name)
Validator that checks that parameter is a valid ROS topic name

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xmlrpclib.ServerProxy

xmlrpcapi(uri)
Returns: instance for calling remote server or None if not a valid URI

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Variables
	ROSRPC = `'rosrpc://'`
	MASTER_NAME = `'master'`
	__package__ = `'rospy'`

Function Details

deprecated(func)

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This is a decorator which can be used to mark functions as deprecated. It will result in a warning being emmitted when the function is used.

parse_rosrpc_uri(uri)

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utility function for parsing ROS-RPC URIs

Parameters:

uri (str) - ROSRPC URI

Returns: (str, int)

address, port

Raises:

ParameterInvalid - if uri is not a valid ROSRPC URI

add_log_handler(level, h)

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Add handler for specified level

Parameters:

level (int) - log level (use constants from Log)
h (fn) - log message handler

Raises:

ROSInternalException - if level is invalid

logdebug(msg, *args)

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Log a debug message to the /rosout topic

Parameters:

msg (str) - message to log, may include formatting arguments
args - format-string arguments, if necessary

logwarn(msg, *args)

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Log a warning message to the /rosout topic

Parameters:

msg (str) - message to log, may include formatting arguments
args - format-string arguments, if necessary

loginfo(msg, *args)

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Log an info message to the /rosout topic

Parameters:

msg (str) - message to log, may include formatting arguments
args - format-string arguments, if necessary

logout(msg, *args)

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Log an info message to the /rosout topic

Parameters:

msg (str) - message to log, may include formatting arguments
args - format-string arguments, if necessary

logerr(msg, *args)

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Log an error message to the /rosout topic

Parameters:

msg (str) - message to log, may include formatting arguments
args - format-string arguments, if necessary

logerror(msg, *args)

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Log an error message to the /rosout topic

Parameters:

msg (str) - message to log, may include formatting arguments
args - format-string arguments, if necessary

logfatal(msg, *args)

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Log an error message to the /rosout topic

Parameters:

msg (str) - message to log, may include formatting arguments
args - format-string arguments, if necessary

get_ros_root(required=False, env=None)

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Get the value of ROS_ROOT.

Parameters:

env (dict) - override environment dictionary
required - if True, fails with ROSException

Returns: str

Value of ROS_ROOT environment

Raises:

ROSException - if require is True and ROS_ROOT is not set

get_node_uri()

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Get this Node's URI.

Returns: str: this Node's XMLRPC URI

set_node_uri(uri)

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set the URI of the local node. This is an internal API method, it does not actually affect the XMLRPC URI of the Node.

configure_logging(node_name, level=20)

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Setup filesystem logging for this node

Parameters:

node_name - Node's name @type node_name str
level (int) - (optional) Python logging level (INFO, DEBUG, etc...). (Default: logging.INFO)

is_initialized()

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Get the initialization state of the local node. If True, node has been configured.

Returns: bool: True if local node initialized

set_initialized(initialized)

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set the initialization state of the local node

Parameters:

initialized (bool) - True if node initialized

is_shutdown()

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Returns: bool: True if shutdown flag has been set

is_shutdown_requested()

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is_shutdown_requested is a state that occurs just before is_shutdown. It is initiated when a shutdown requested is received and continues until client shutdown handlers have been called. After client shutdown handlers have been serviced, the is_shutdown state becomes true.

Returns: bool: True if shutdown has been requested (but possibly not yet initiated)

add_client_shutdown_hook(h)

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Add client method to invoke when system shuts down. Unlike add_shutdown_hook and add_preshutdown_hooks, these methods will be called before any rospy internal shutdown code.

Parameters:

h (fn(str)) - function that takes in a single string argument (shutdown reason)

add_preshutdown_hook(h)

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Add method to invoke when system shuts down. Unlike add_shutdown_hook, these methods will be called before any other shutdown hooks.

Parameters:

h (fn(str)) - function that takes in a single string argument (shutdown reason)

add_shutdown_hook(h)

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Add method to invoke when system shuts down.

Shutdown hooks are called in the order that they are registered. This is an internal API method that is used to cleanup. See the client on_shutdown() method if you wish to register client hooks.

Parameters:

h (fn(str)) - function that takes in a single string argument (shutdown reason)

signal_shutdown(reason)

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Initiates shutdown process by signaling objects waiting on _shutdown_lock. Shutdown and pre-shutdown hooks are invoked.

Parameters:

reason (str) - human-readable shutdown reason, if applicable

xmlrpcapi(uri)

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Returns: xmlrpclib.ServerProxy: instance for calling remote server or None if not a valid URI