Module API

rocon_master_info

This is the top-level namespace of the rocon_master_info ROS package. It provides a ros node for advertising basic information about a ros master.

rocon_master_info.master

This module contains the machinery for advertising basic information about a ros master.

class rocon_master_info.master.Parameters[source]

The variables of this class are default constructed from parameters on the ros parameter server. Each parameter is nested in the private namespace of the node which instantiates this class.

Variables:
  • robot_type (str) – used for rocon_uri rapp compatibility checks [‘rapp_manager_script’]
  • robot_name (str) – also used for rocon_uri rapp compatibility checks [‘robot’]
  • robot_icon (str) – a resource name pointing to a representative icon for this platform. [‘rocon_bubble_icons/rocon.png’]
class rocon_master_info.master.RoconMaster[source]

Bases: object

This class accepts a few parameters describing the ros master and then publishes the ros master info on a latched publisher. Publishing is necessary because an icon can only be represented by it’s location as a parameter. It is easier directly publishing the icon rather than having clients go do the lookup themselves.

__init__()[source]

Retrieves name, description and icon parameters from the parameter server and publishes them on a latched info topic. The icon parameter must be a ros resource name (pkg/filename).

spin

Spin function, currently this just replicates the rospy spin function since everything is done in the constructor.

rocon_master_info.master_info

Some methods for retrieving the rocon master information. Also provides the main method for scripts/tools that do this. —-

rocon_master_info.master_info.get_master_info(timeout=1.0)[source]

Tries to gather the rocon master info but if not available, return with a rocon_std_msgs.MasterInfo object filled with appropriate information (“Unknown Master” ...).

Parameters:timeout (double) – how long to blather around looking for the master info topic.
Returns:the master information
Return type:rocon_std_msgs.MasterInfo