Package rosgraph :: Module names

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Module names

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Library for manipulating ROS Names. See http://ros.org/wiki/Names.

Functions

isstring(s)
Small helper version to check an object is a string in a way that works for both Python 2 and 3

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str

get_ros_namespace(env=None, argv=None)
Returns: ROS namespace of current program

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str

make_caller_id(name)
Resolve a local name to the caller ID based on ROS environment settings (i.e.

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str

make_global_ns(name)
Convert name to a global name with a trailing namespace separator.

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bool

is_global(name)
Test if name is a global graph resource name.

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is_private(name)
Test if name is a private graph resource name.

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str

namespace(name)
Get the namespace of name.

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str

ns_join(ns, name)
Join a namespace and name.

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dict {str: str}

load_mappings(argv)
Load name mappings encoded in command-line arguments.

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is_legal_name(name)
Check if name is a legal ROS name for graph resources (alphabetical character followed by alphanumeric, underscore, or forward slashes).

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is_legal_base_name(name)
Validates that name is a legal base name for a graph resource.

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canonicalize_name(name)
Put name in canonical form.

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str

resolve_name(name, namespace_, remappings=None)
Resolve a ROS name to its global, canonical form.

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script_resolve_name(script_name, name)
Name resolver for scripts.

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anonymous_name(id)
Generate a ROS-legal 'anonymous' name

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Variables
	MSG_EXT = `'.msg'`
	SRV_EXT = `'.srv'`
	SEP = `'/'`
	GLOBALNS = `'/'`
	PRIV_NAME = `'~'`
	REMAP = `':='`
	ANYTYPE = `'*'`
	NAME_LEGAL_CHARS_P = `re.compile(r'^[~/A-Za-z][\w/]*$')`
	BASE_NAME_LEGAL_CHARS_P = `re.compile(r'^[A-Za-z]\w*$')`
	__package__ = `'rosgraph'`

Function Details

get_ros_namespace(env=None, argv=None)

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Parameters:

env (dict) - environment dictionary (defaults to os.environ)
argv ([str]) - command-line arguments (defaults to sys.argv)

Returns: str

ROS namespace of current program

make_caller_id(name)

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Resolve a local name to the caller ID based on ROS environment settings (i.e. ROS_NAMESPACE)

Parameters:

name (str) - local name to calculate caller ID from, e.g. 'camera', 'node'

Returns: str

caller ID based on supplied local name

make_global_ns(name)

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Convert name to a global name with a trailing namespace separator.

Parameters:

name (str) - ROS resource name. Cannot be a ~name.

Returns: str

Raises:

ValueError - if name is a ~name

is_global(name)

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Test if name is a global graph resource name.

Parameters:

name (str) - must be a legal name in canonical form

Returns: bool

True if name is a globally referenced name (i.e. /ns/name)

is_private(name)

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Test if name is a private graph resource name.

Parameters:

name (str) - must be a legal name in canonical form

namespace(name)

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Get the namespace of name. The namespace is returned with a trailing slash in order to favor easy concatenation and easier use within the global context.

Parameters:

name (str) - name to return the namespace of. Must be a legal name. NOTE: an empty name will return the global namespace.

Returns: str

Raises:

ValueError - if name is invalid

ns_join(ns, name)

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Join a namespace and name. If name is unjoinable (i.e. ~private or /global) it will be returned without joining

Parameters:

ns (str) - namespace ('/' and '~' are both legal). If ns is the empty string, name will be returned.
name, str - a legal name

Returns: str

load_mappings(argv)

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Load name mappings encoded in command-line arguments. This will filter out any parameter assignment mappings.

Parameters:

argv ([str]) - command-line arguments

Returns: dict {str: str}

name->name remappings.

is_legal_name(name)

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Check if name is a legal ROS name for graph resources (alphabetical character followed by alphanumeric, underscore, or forward slashes). This constraint is currently not being enforced, but may start getting enforced in later versions of ROS.

Parameters:

name (str) - Name

is_legal_base_name(name)

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Validates that name is a legal base name for a graph resource. A base name has no namespace context, e.g. "node_name".

canonicalize_name(name)

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Put name in canonical form. Extra slashes '//' are removed and name is returned without any trailing slash, e.g. /foo/bar

Parameters:

name (str) - ROS name

resolve_name(name, namespace_, remappings=None)

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Resolve a ROS name to its global, canonical form. Private ~names are resolved relative to the node name.

Parameters:

name (str) - name to resolve.
namespace_ (str) - node name to resolve relative to.
remappings - Map of resolved remappings. Use None to indicate no remapping.

Returns: str

Resolved name. If name is empty/None, resolve_name returns parent namespace_. If namespace_ is empty/None,

script_resolve_name(script_name, name)

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Name resolver for scripts. Supports :envvar:`ROS_NAMESPACE`.  Does not
support remapping arguments.

:param name: name to resolve, ``str``
:param script_name: name of script. script_name must not
  contain a namespace., ``str``
:returns: resolved name, ``str``

anonymous_name(id)

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Generate a ROS-legal 'anonymous' name

Parameters:

id (str) - prefix for anonymous name