rostopic

Package rostopic

Classes
	long int(x=0) -> int or long int(x, base=10) -> int or long
	ROSTopicException Base exception class of rostopic-related errors
	ROSTopicIOException rostopic errors related to network I/O failures
	ROSTopicHz ROSTopicHz receives messages for a topic and computes frequency stats
	ROSTopicDelay
	ROSTopicBandwidth
	CallbackEcho Callback instance that can print callback data in a variety of formats.

Functions

msgevalgen(pattern)
Generates a function that returns the relevant field(s) (aka 'subtopic(s)') of a Message object :param pattern: subtopic, e.g.

source code

get_topic_type(topic, blocking=False)
Get the topic type.

source code

get_topic_class(topic, blocking=False)
Get the topic message class :returns: message class for topic, real topic name, and function for evaluating message objects into the subtopic (or ``None``).

source code

get_api(master, caller_id)
Get XML-RPC API of node :param master: XML-RPC handle to ROS Master, :class:`xmlrpclib.ServerProxy` :param caller_id: node name, ``str`` :returns: XML-RPC URI of node, ``str`` :raises: :exc:`ROSTopicIOException` If unable to communicate with master

source code

get_topic_list(master=None)

source code

get_info_text(topic)
Get human-readable topic description

source code

create_value_transform(echo_nostr, echo_noarr)

source code

create_field_filter(echo_nostr, echo_noarr)

source code

find_by_type(topic_type)
Lookup topics by topic_type :param topic_type: type of topic to find, ``str`` :returns: list of topic names that use topic_type, ``[str]``

source code

create_publisher(topic_name, topic_type, latch, disable_rostime=True)
Create rospy.Publisher instance from the string topic name and type.

source code

publish_message(pub, msg_class, pub_args, rate=None, once=False, verbose=False, substitute_keywords=False)
Create new instance of msg_class, populate with pub_args, and publish.

source code

file_yaml_arg(filename)
:param filename: file name, ``str`` :returns: Iterator that yields pub args (list of args), ``iterator`` :raises: :exc:`ROSTopicException` If filename is invalid

source code

argv_publish(pub, msg_class, pub_args, rate, once, verbose, substitute_keywords=False)

source code

wait_for_subscriber(pub, timeout)

source code

param_publish_once(pub, msg_class, param_name, verbose)

source code

param_publish(pub, msg_class, param_name, rate, verbose)
:param param_name: ROS parameter name, ``str`` :returns: List of msg dicts in file, ``[{str: any}]`` :raises: :exc:`ROSTopicException` If parameter is not set

source code

stdin_publish(pub, msg_class, rate, once, filename, verbose)
:param filename: name of file to read from instead of stdin, or ``None``, ``str``

source code

stdin_yaml_arg()
Iterate over YAML documents in stdin :returns: for next list of arguments on stdin.

source code

rostopicmain(argv=None)

source code

Variables
	NAME = `'rostopic'`
	SUBSCRIBER_TIMEOUT = `5.0`
	__package__ = `'rostopic'`

Function Details

msgevalgen(pattern)

source code

Generates a function that returns the relevant field(s) (aka 'subtopic(s)') of a Message object :param pattern: subtopic, e.g. /x[2:]/y[:-1]/z, ``str`` :returns: function that converts a message into the desired value, ``fn(Message) -> value``

get_topic_type(topic, blocking=False)

source code


Get the topic type.

:param topic: topic name, ``str``
:param blocking: (default False) block until topic becomes available, ``bool``

:returns: topic type, real topic name and fn to evaluate the message instance
  if the topic points to a field within a topic, e.g. /rosout/msg. fn is None otherwise. ``(str, str, fn)``
:raises: :exc:`ROSTopicException` If master cannot be contacted

get_topic_class(topic, blocking=False)

source code


Get the topic message class
:returns: message class for topic, real topic
  name, and function for evaluating message objects into the subtopic
  (or ``None``). ``(Message, str, str)``
:raises: :exc:`ROSTopicException` If topic type cannot be determined or loaded

get_info_text(topic)

source code

Get human-readable topic description

:param topic: topic name, ``str``

create_publisher(topic_name, topic_type, latch, disable_rostime=True)

source code

Create rospy.Publisher instance from the string topic name and type. This is a powerful method as it allows creation of rospy.Publisher and Message instances using the topic and type names. This enables more dynamic publishing from Python programs.

:param topic_name: name of topic, ``str`` :param topic_type: name of topic type, ``str`` :param latch: latching topic, ``bool`` :param latch: disable_rostime: whether to disable rostime (use walltime instead), ``bool`` :returns: topic :class:`rospy.Publisher`, :class:`Message` class

publish_message(pub, msg_class, pub_args, rate=None, once=False, verbose=False, substitute_keywords=False)

source code

Create new instance of msg_class, populate with pub_args, and publish. This may print output to screen.

:param pub: :class:`rospy.Publisher` instance for topic :param msg_class: Message type, ``Class`` :param pub_args: Arguments to initialize message that is published, ``[val]`` :param rate: publishing rate (hz) or None for just once, ``int`` :param once: publish only once and return, ``bool`` :param verbose: If ``True``, print more verbose output to stdout, ``bool``

stdin_yaml_arg()

source code

Iterate over YAML documents in stdin :returns: for next list of arguments on stdin. Iterator returns a list of args for each call, ``iterator``