rostopic

Module rostopic

Classes
	ROSTopicException Base exception class of rostopic-related errors
	ROSTopicIOException rostopic errors related to network I/O failures
	ROSTopicHz ROSTopicHz receives messages for a topic and computes frequency stats
	ROSTopicBandwidth
	CallbackEcho Callback instance that can print callback data in a variety of formats.

Functions

fn(rospy.Message) -> value

msgevalgen(pattern)
Generates a function that returns the relevant field (aka 'subtopic') of a Message object

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str, str, fn

get_topic_type(topic, blocking=False)
Get the topic type.

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roslib.message.Message, str, str

get_topic_class(topic, blocking=False)
Get the topic message class

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str

get_api(master, caller_id)
Get XML-RPC API of node

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get_info_text(topic)
Get human-readable topic description

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create_field_filter(echo_nostr, echo_noarr)

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[str]

find_by_type(topic_type)
Lookup topics by topic_type

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rospy.topics.Publisher, roslib.message.Message class

create_publisher(topic_name, topic_type, latch)
Create rospy.Publisher instance from the string topic name and type.

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publish_message(pub, msg_class, pub_args, rate=None, once=False, verbose=False)
Create new instance of msg_class, populate with pub_args, and publish.

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iterator

file_yaml_arg(filename)
Returns: Iterator that yields pub args (list of args)

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argv_publish(pub, msg_class, pub_args, rate, once, verbose)

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wait_for_subscriber(pub, timeout)

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param_publish_once(pub, msg_class, param_name, verbose)

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[{str: any}]

param_publish(pub, msg_class, param_name, rate, verbose)
Returns: List of msg dicts in file

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stdin_publish(pub, msg_class, rate, once, filename, verbose)

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iterator

stdin_yaml_arg()
Iterate over YAML documents in stdin

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rostopicmain(argv=None)

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Variables
	NAME = `'rostopic'`
	SUBSCRIBER_TIMEOUT = `5.0`
	__package__ = `None`

Function Details

msgevalgen(pattern)

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Generates a function that returns the relevant field (aka 'subtopic') of a Message object

Parameters:

pattern (str) - subtopic, e.g. /x. Must have a leading '/' if specified.

Returns: fn(rospy.Message) -> value

function that converts a message into the desired value

get_topic_type(topic, blocking=False)

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Get the topic type.

Parameters:

topic (str) - topic name
blocking (bool) - (default False) block until topic becomes available

Returns: str, str, fn

topic type, real topic name and fn to evaluate the message instance if the topic points to a field within a topic, e.g. /rosout/msg. fn is None otherwise.

Raises:

ROSTopicException - if master cannot be contacted

get_topic_class(topic, blocking=False)

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Get the topic message class

Returns: roslib.message.Message, str, str

message class for topic, real topic name, and function for evaluating message objects into the subtopic (or None)

Raises:

ROSTopicException - if topic type cannot be determined or loaded

get_api(master, caller_id)

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Get XML-RPC API of node

Parameters:

master (xmlrpclib.ServerProxy) - XML-RPC handle to ROS Master
caller_id (str) - node name

Returns: str

XML-RPC URI of node

Raises:

ROSTopicIOException - if unable to communicate with master

get_info_text(topic)

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Get human-readable topic description

Parameters:

topic (str) - topic name

find_by_type(topic_type)

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Lookup topics by topic_type

Parameters:

topic_type (str) - type of topic to find

Returns: [str]

list of topic names that use topic_type

create_publisher(topic_name, topic_type, latch)

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Create rospy.Publisher instance from the string topic name and type. This is a powerful method as it allows creation of rospy.Publisher and Message instances using the topic and type names. This enables more dynamic publishing from Python programs.

Parameters: