rosservice

Package rosservice

Command-line utility for querying ROS services, along with library calls for similar functionality. The main benefit of the rosservice Python library over the rospy ServiceProxy library is that rosservice supports type-introspection on ROS Services. This allows for both introspecting information about services, as well as using this introspection to dynamically call services.

Classes
	ROSServiceException Base class for rosservice-related exceptions
	ROSServiceIOException rosservice related to network I/O failure

Functions

dict

get_service_headers(service_name, service_uri)
Utility for connecting to a service and retrieving the TCPROS headers.

source code

get_service_type(service_name)
Get the type of the specified service_name.

source code

get_service_uri(service_name)
Retrieve ROSRPC URI of service.

source code

str

get_service_node(service_name)
Returns: name of node that implements service, or None

source code

[services]

get_service_list(node=None, namespace=None, include_nodes=False)
Get the list of services

source code

[str]

rosservice_find(service_type)
Lookup services by service_type

source code

ServiceDefinition: service class

get_service_class_by_name(service_name)
Get the service class using the name of the service.

source code

Message, Message

call_service(service_name, service_args, service_class=None)
Call the specified service_name

source code

bool

has_service_args(service_name, service_class=None)
Check if service requires arguments

source code

get_service_args(service_name)
Implements 'get service args'

source code

rosservicemain(argv=['(imported)'])
main entry point for rosservice command-line tool source code

Variables
	NAME = `'rosservice'`
	__package__ = `'rosservice'`

Function Details

get_service_headers(service_name, service_uri)

source code

Utility for connecting to a service and retrieving the TCPROS headers. Services currently do not declare their type with the master, so instead we probe the service for its headers.

Parameters:

service_name (str) - name of service
service_uri (str) - ROSRPC URI of service

Returns: dict

map of header fields

Raises:

ROSServiceException - if service has invalid information
ROSServiceIOException - if unable to communicate with service

get_service_type(service_name)

source code

Get the type of the specified service_name. May print errors to stderr.

:param service_name: name of service, ``str`` :returns: type of service or ``None``, ``str`` :raises: :exc:`ROSServiceIOException` If unable to communicate with service

get_service_uri(service_name)

source code

Retrieve ROSRPC URI of service.

:param service_name: name of service to lookup, ``str`` :returns: ROSRPC URI for service_name, ``str``

get_service_node(service_name)

source code

Returns: str: name of node that implements service, or None

get_service_list(node=None, namespace=None, include_nodes=False)

source code

Get the list of services

Parameters:

node (str) - Name of node to get services for or None to return all services
namespace (str) - Namespace to scope services to or None
include_nodes (bool) - If True, return list will be [service_name, [node]]

Returns: [services]

if include_nodes, services is service_name, [node]. Otherwise, it is just the service_name

Raises:

ROSServiceIOException - if the I/O issues prevent retrieving service information

rosservice_find(service_type)

source code

Lookup services by service_type

Parameters:

service_type (str) - type of service to find

Returns: [str]

list of service names that use service_type

get_service_class_by_name(service_name)

source code

Get the service class using the name of the service. NOTE: this call results in a probe call to the service.

Parameters:

service_name (str) - fully-resolved name of service to call

Returns: ServiceDefinition: service class

service class

Raises:

ROSServiceException - if service class cannot be retrieved

call_service(service_name, service_args, service_class=None)

source code

Call the specified service_name

Parameters:

service_name (str) - fully-resolved name of service to call
service_args ([any]) - args to pass to service
service_class (Message class) - (optional) service type class. If this argument is provided, it saves a probe call against the service

Returns: Message, Message

service request, service response

Raises:

ROSServiceException - if call command cannot be executed

has_service_args(service_name, service_class=None)

source code

Check if service requires arguments

Parameters:

service_name (str) - name of service being called
service_class (Message class) - (optional) service type class. If this argument is provided, it saves a probe call against the service

Returns: bool

True if service_name has request arguments

get_service_args(service_name)

source code

Implements 'get service args'

Parameters:

service_name (str) - name of service to get arguments for

Raises:

ROSServiceException - if call command cannot be executed

rosservicemain(argv=`['(imported)']`)

source code

main entry point for rosservice command-line tool

Parameters:

argv ([str]) - command-line args

Package rosservice

get_service_headers(service_name, service_uri)

get_service_type(service_name)

get_service_uri(service_name)

get_service_node(service_name)

get_service_list(node=None, namespace=None, include_nodes=False)

rosservice_find(service_type)

get_service_class_by_name(service_name)

call_service(service_name, service_args, service_class=None)

has_service_args(service_name, service_class=None)

get_service_args(service_name)

rosservicemain(argv=['(imported)'])

rosservicemain(argv=`['(imported)']`)