register.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2010, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
00009 # are met:
00010 #
00011 #  * Redistributions of source code must retain the above copyright
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00013 #  * Redistributions in binary form must reproduce the above
00014 #    copyright notice, this list of conditions and the following
00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
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00019 #    from this software without specific prior written permission.
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00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00032 # POSSIBILITY OF SUCH DAMAGE.
00033 
00034 NAME="register.py"
00035 
00036 import os
00037 import sys
00038 
00039 import rosgraph
00040 import rosgraph.network
00041 import rospy
00042 
00043 def register_main():
00044     from optparse import OptionParser
00045     parser = OptionParser(usage="\n\t%prog service /service_name rosrpc://HOSTNAME:PORT\n"+\
00046                               "\t%prog pub /topic_name topic_msg/Type http://HOSTNAME:PORT", prog=NAME)
00047     options, args = parser.parse_args(rospy.myargv()[1:])
00048     if len(args) < 3:
00049         parser.print_usage()
00050         sys.exit(os.EX_USAGE)
00051         
00052     reg = args[0]
00053     if reg == 'service':
00054         if len(args) != 3:
00055             parser.error("Please specify service name and URI")
00056         _, name, uri = args
00057         
00058         m = rosgraph.Master('rosproxy_register')
00059         # register proxy with URI of port zero. this will create bad info
00060         # on master, but at least it will accumulate under the same port
00061         fake_api = 'http://%s:0'%rosgraph.network.get_host_name()
00062         m.registerService(name, uri, fake_api)
00063 
00064     elif reg == 'pub':
00065         if len(args) != 4:
00066             parser.error("Please specify topic name, topic type, and URI")
00067         _, name, topic_type, uri = args
00068 
00069         
00070         m = rosgraph.Master('rosproxy_register')
00071         m.registerPublisher(name, topic_type, uri)
00072     else:
00073         parser.error("Please specify 'pub' or 'service'")
00074     
00075 if __name__ == '__main__':
00076     register_main()


rosproxy
Author(s): Ken Conley
autogenerated on Mon Dec 2 2013 13:03:48