Package rospy :: Module names

Module names

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Support for ROS Names

See: http://www.ros.org/wiki/Names

Functions

isstring(s)

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canonicalize_name(name)
Put name in canonical form.

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reload_mappings(argv)
Re-initialize the name remapping table.

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initialize_mappings(node_name)
Initialize the remapping table based on provide node name.

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resolve_name_without_node_name(name)
The need for this function is complicated -- Topics and Services can be created before init_node is called.

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{str: str}

get_mappings()
Get mapping table with unresolved names

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{str: str}

get_resolved_mappings()
Get mapping table with resolved names

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str

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

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str

remap_name(name, caller_id=None, resolved=True)
Remap a ROS name.

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str

scoped_name(caller_id, name)
Convert the global caller_id to a relative name within the namespace.

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valid_name_validator_resolved(param_name, param_value, caller_id)

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valid_name_validator_unresolved(param_name, param_value, caller_id)

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str

valid_name(param_name, resolve=True)
Validator that resolves names and also ensures that they are not empty

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str

global_name(param_name)
Validator that checks for valid, global graph resource name.

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str

get_namespace()
Get namespace of local node.

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str

get_name()
Get fully resolved name of local node.

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str

get_caller_id()
Get fully resolved name of local node.

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Variables
	TOPIC_ANYTYPE = `'*'`
	SERVICE_ANYTYPE = `'*'`
	__package__ = `'rospy'`

Function Details

canonicalize_name(name)

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

Parameters:

name (str) - ROS name

reload_mappings(argv)

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Re-initialize the name remapping table.

Parameters:

argv ([str]) - Command line arguments to this program. ROS reads these arguments to find renaming params.

initialize_mappings(node_name)

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Initialize the remapping table based on provide node name.

Parameters:

node_name (str) - name of node (caller ID)

resolve_name_without_node_name(name)

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The need for this function is complicated -- Topics and Services can be created before init_node is called. In general, this is okay, unless the name is a ~name, in which case we have to raise an ValueError

Parameters:

name (str) - ROS name to resolve

Raises:

ValueError - if name is a ~name
ROSInitException - if name is remapped to a ~name

get_mappings()

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Get mapping table with unresolved names

Returns: {str: str}: command-line remappings {name: name}

get_resolved_mappings()

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Get mapping table with resolved names

Returns: {str: str}: command-line remappings {name: name}

resolve_name(name, caller_id=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.
caller_id (str) - node name to resolve relative to. To resolve to local namespace, omit this parameter (or use None)

Returns: str

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

remap_name(name, caller_id=None, resolved=True)

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Remap a ROS name. This API should be used to instead of resolve_name for APIs in which you don't wish to resolve the name unless it is remapped.

Parameters:

name (str) - name to remap
resolved (bool) - if True (default), use resolved names in remappings, which is the standard for ROS.

Returns: str

Remapped name

scoped_name(caller_id, name)

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Convert the global caller_id to a relative name within the namespace. For example, for namespace '/foo' and name '/foo/bar/name', the return value will be 'bar/name'

WARNING: scoped_name does not validate that name is actually within the supplied namespace.

Parameters: