Package rosnode

rosnode implements the rosnode command-line tool and also provides a library for retrieving ROS Node information.

Classes
	ROSNodeException rosnode base exception type
	ROSNodeIOException Exceptions for communication-related (i/o) errors, generally due to Master or Node network communication issues.

Functions

str

get_api_uri(master, caller_id, skip_cache=False)
Returns: xmlrpc URI of caller_id

source code

lookup_uri(master, system_state, topic, uri)

source code

[str]

get_node_names(namespace=None)
Returns: list of node caller IDs

source code

[str]

get_machines_by_nodes()
Find machines connected to nodes.

source code

[str]

get_nodes_by_machine(machine)
Find nodes by machine name.

source code

([str], [str])

kill_nodes(node_names)
Call shutdown on the specified nodes

source code

rosnode_listnodes(namespace=None, list_uri=False, list_all=False)
Print list of all ROS nodes to screen.

source code

bool

rosnode_ping(node_name, max_count=None, verbose=False, skip_cache=False)
Test connectivity to node by calling its XMLRPC API

source code

rosnode_ping_all(verbose=False, skip_cache=False)
Ping all running nodes

source code

cleanup_master_blacklist(master, blacklist)
Remove registrations from ROS Master and node cache (_caller_apis) that match blacklist.

source code

cleanup_master_whitelist(master, whitelist)
Remove registrations from ROS Master that do not match whitelist.

source code

rosnode_cleanup()
This is a semi-hidden routine for cleaning up stale node registration information on the ROS Master.

source code

get_node_info_description(node_name)

source code

get_node_connection_info_description(node_api, master)

source code

rosnode_info(node_name, quiet=False)
Print information about node, including subscriptions and other debugging information.

source code

rosnode_debugnode(node_name, quiet=False)
Print information about node, including subscriptions and other debugging information.

source code

rosnodemain(argv=None)
Prints rosnode main entrypoint.

source code

Variables
	NAME = `'rosnode'`
	ID = `'/rosnode'`
	__package__ = `'rosnode'`

Function Details

get_api_uri(master, caller_id, skip_cache=False)

source code

Parameters:

master (rosgraph.Master) - rosgraph Master instance
caller_id (str) - node name
skip_cache (bool) - flag to skip cached data and force to lookup node from master

Returns: str

xmlrpc URI of caller_id

Raises:

ROSNodeIOException - if unable to communicate with master

get_node_names(namespace=None)

source code

Parameters:

namespace (str) - optional namespace to scope return values by. Namespace must already be resolved.

Returns: [str]

list of node caller IDs

Raises:

ROSNodeIOException - if unable to communicate with master

get_machines_by_nodes()

source code

Find machines connected to nodes. This is a very costly procedure as it must do N lookups with the Master, where N is the number of nodes.

Returns: [str]

list of machines connected

Raises:

ROSNodeIOException - if unable to communicate with master

get_nodes_by_machine(machine)

source code

Find nodes by machine name. This is a very costly procedure as it must do N lookups with the Master, where N is the number of nodes.

Returns: [str]

list of nodes on the specified machine

Raises:

ROSNodeException - if machine name cannot be resolved to an address
ROSNodeIOException - if unable to communicate with master

kill_nodes(node_names)

source code

Call shutdown on the specified nodes

Returns: ([str], [str]): list of nodes that shutdown was called on successfully and list of failures

rosnode_listnodes(namespace=None, list_uri=False, list_all=False)

source code

Print list of all ROS nodes to screen.

Parameters:

namespace (str) - namespace to scope list to
list_uri (bool) - print uris of nodes instead of names
list_all - print node names and uris
list_all - bool

rosnode_ping(node_name, max_count=None, verbose=False, skip_cache=False)

source code

Test connectivity to node by calling its XMLRPC API

Parameters:

node_name (str) - name of node to ping
max_count (int) - number of ping requests to make
verbose (bool) - print ping information to screen
skip_cache (bool) - flag to skip cached data and force to lookup from master

Returns: bool

True if node pinged

Raises:

ROSNodeIOException - if unable to communicate with master

rosnode_ping_all(verbose=False, skip_cache=False)

source code

Ping all running nodes

Raises:

ROSNodeIOException - if unable to communicate with master

cleanup_master_blacklist(master, blacklist)

source code

Remove registrations from ROS Master and node cache (_caller_apis) that match blacklist.

Parameters:

master (rosgraph.Master) - rosgraph Master instance
blacklist ([str]) - list of nodes to scrub

cleanup_master_whitelist(master, whitelist)

source code

Remove registrations from ROS Master that do not match whitelist.

Parameters:

master (rosgraph.Master) - rosgraph Master instance
whitelist (list of nodes to keep) - list of nodes to keep

rosnode_cleanup()

source code

This is a semi-hidden routine for cleaning up stale node registration information on the ROS Master. The intent is to remove this method once Master TTLs are properly implemented.

rosnode_info(node_name, quiet=False)

source code

Print information about node, including subscriptions and other debugging information. This will query the node over the network.

Parameters:

node_name (str) - name of ROS node

Raises:

ROSNodeIOException - if unable to communicate with master

rosnode_debugnode(node_name, quiet=False)

source code

Print information about node, including subscriptions and other debugging information. This will query the node over the network.

Parameters:

node_name (str) - name of ROS node

Raises:

ROSNodeIOException - if unable to communicate with master

rosnodemain(argv=None)

source code

Prints rosnode main entrypoint.

Parameters:

argv - override sys.argv
argv - [str]