Module utils

Filter controller state list by controller hardware interface.

Parameters:

• ctrl_list ([controller_manager_msgs/ControllerState]) - Controller state list
• hardware_interface (str) - Controller hardware interface
• match_substring (bool) - Set to True to allow substring matching

Returns: [controller_manager_msgs/ControllerState]

Controllers matching the specified hardware interface

Filter controller state list by controller name.

Parameters:

• ctrl_list ([controller_manager_msgs/ControllerState]) - Controller state list
• ctrl_name (str) - Controller name
• match_substring (bool) - Set to True to allow substring matching

Returns: [controller_manager_msgs/ControllerState]

Controllers matching the specified name

Filter controller state list by claimed resources.

Parameters:

• ctrl_list ([controller_manager_msgs/ControllerState]) - Controller state list
• resources ([str] @param hardware_interface Controller hardware interface where to look for resources. If specified, the requested resources will only be searched for in this interface. If unspecified, all controller hardware interfaces will be searched for; i.e., if a controller claims resources from multiple interfaces, the method will succeed if _any_ interface contains the requested resources (any or all, depending on the value of match_any). Specifying this parameter allows finer control over determining which interfaces claim specific resources.) - Controller resources
• match_any (bool) - If set to False, all elements in resources must be claimed by the interface specified in hardware_interface (or _any_ interface, if hardware_interface is unspecified) for a positive match. Note that a controller's resources can contain additional entries than those in resources). If set to True, at least one element in resources must be claimed by the interface specified in hardware_interface (or _any_ interface, if hardware_interface is unspecified) for a positive match.

Returns: [controller_manager_msgs/ControllerState]

Controllers matching the specified hardware interface

Filter controller state list by controller state.

Parameters:

• ctrl_list ([controller_manager_msgs/ControllerState]) - Controller state list
• ctrl_state (str) - Controller state
• match_substring (bool) - Set to True to allow substring matching

Returns: [controller_manager_msgs/ControllerState]

Controllers matching the specified state

Filter controller state list by controller type.

Parameters:

• ctrl_list ([controller_manager_msgs/ControllerState]) - Controller state list
• ctrl_type (str) - Controller type
• match_substring (bool) - Set to True to allow substring matching

Returns: [controller_manager_msgs/ControllerState]

Controllers matching the specified type

Get list of active controller manager namespaces.

Parameters:

• namespace (str) - Namespace where to look for controller managers.
• initial_guess ([str]) - Initial guess of the active controller managers. Typically c{initial_guess} is the output of a previous call to this method, and is useful when periodically checking for changes in the list of active controller managers. Elements in this list will go through a lazy validity check (as opposed to a full name+type API verification), so providing a good estimate can significantly reduce the number of ROS master queries incurred by this method.

Returns: [str]

Sorted list of active controller manager namespaces.

Get list of ROS parameter names that potentially represent a controller configuration.

Example usage:

• Assume the following parameters exist in the ROS parameter: server:
  • /foo/type
  • /xxx/type/xxx
  • /ns/bar/type
  • /ns/yyy/type/yyy
• The potential controllers found by this method are:

  >>> names    = get_rosparam_controller_names()      # returns ['foo']
  >>> names_ns = get_rosparam_controller_names('/ns') # returns ['bar']

Parameters:

• namespace (str) - Namespace where to look for controllers.

Returns: [str]

Sorted list of ROS parameter names.

Check if the input namespace exposes the controller_manager ROS interface.

This method has the overhead of several ROS master queries (one per ROS API member).

Parameters:

• namespace (str) - Namespace to check

Returns: bool

True if namespace exposes the controller_manager ROS interface

cm_services

Value:

{'list_controller_types': 'controller_manager_msgs/ListControllerTypes ', 'list_controllers': 'controller_manager_msgs/ListControllers', 'load_controller': 'controller_manager_msgs/LoadController', 'reload_controller_libraries': 'controller_manager_msgs/ReloadControl lerLibraries', 'switch_controller': 'controller_manager_msgs/SwitchController', 'unload_controller': 'controller_manager_msgs/UnloadController'}