Class Hierarchy

• logging.Filterer: A base class for loggers and handlers which allows them to share common code.
  • logging.Handler: Handler instances dispatch logging events to specific destinations.
    • rospy.core.NullHandler
• rospy.transport.ProtocolHandler
• rospy.transport.Transport
• object: The most base type
  • exceptions.BaseException: Common base class for all exceptions
    • exceptions.Exception: Common base class for all non-exit exceptions.
      • rospy.impl.validators.ParameterInvalid: Exception that is raised when a parameter fails validation checks
      • rospy.exceptions.ROSException: Base exception class for ROS clients
        • rospy.exceptions.ROSInitException: Exception for errors initializing ROS state
        • rospy.exceptions.ROSInterruptException: Exception for operations that interrupted, e.g.
        • rospy.exceptions.ROSSerializationException: Exception for message serialization errors
      • rospy.exceptions.ROSInternalException: Base class for exceptions that are internal to the ROS system
        • rospy.exceptions.TransportException: Base class for transport-related exceptions
          • rospy.exceptions.TransportInitError: Internal exception for representing exceptions that occur establishing transports
          • rospy.exceptions.TransportTerminated: Internal class for representing broken connections
      • rospy.service.ServiceException: Exception class for service-related errors
    • exceptions.KeyboardInterrupt: Program interrupted by user.
      • rospy.exceptions.ROSInterruptException: Exception for operations that interrupted, e.g.
  • rospy.msproxy.MasterProxy: Convenience wrapper for ROS master API and XML-RPC implementation.
  • roslib.message.Message: Base class of Message data classes auto-generated from msg files.
    • rospy.msg.AnyMsg: Message class to use for subscribing to any topic regardless of type.
    • std_msgs.msg._Header.Header
  • rospy.impl.paramserver.ParamServerCache: Cache of values on the parameter server.
  • rospy.impl.transport.ProtocolHandler
    • rospy.impl.tcpros_pubsub.TCPROSHandler: ROS Protocol handler for TCPROS.
  • rospy.client.Rate: Convenience class for sleeping in a loop at a specified rate
  • rospy.impl.registration.Registration: Registration types
  • rospy.impl.registration.RegistrationListener: Listener API for subscribing to changes in Publisher/Subscriber/Service declarations
    • rospy.impl.registration.RegManager: Registration manager used by Node implemenation.
  • rospy.impl.registration.RegistrationListeners
  • roslib.message.ServiceDefinition: Base class of Service classes auto-generated from srv files
  • rospy.service.ServiceManager: Keeps track of currently registered services in the ROS system
  • rospy.topics.SubscribeListener: Callback API to receive notifications when new subscribers connect and disconnect.
  • rospy.impl.tcpros_base.TCPROSServer: ROS Protocol handler for TCPROS.
  • rospy.impl.tcpros_base.TCPROSTransportProtocol: Abstraction of TCPROS connections.
    • rospy.impl.tcpros_pubsub.TCPROSPub: Publisher transport implementation for publishing topic data via peer-to-peer TCP/IP sockets.
    • rospy.impl.tcpros_service.TCPROSServiceClient: Protocol Implementation for Service clients over TCPROS
    • rospy.impl.tcpros_pubsub.TCPROSSub: Subscription transport implementation for receiving topic data via peer-to-peer TCP/IP sockets
    • rospy.impl.tcpros_service.TCPService: Protocol implementation for Services over TCPROS
  • rospy.impl.tcpros_base.TCPServer: Simple server that accepts inbound TCP/IP connections and hands them off to a handler function.
  • roslib.rostime.TVal: Base class of Time and Duration representations.
    • roslib.rostime.Duration: Duration represents the ROS 'duration' primitive, which consists of two integers: seconds and nanoseconds.
      • rospy.rostime.Duration: Duration represents the ROS 'duration' primitive type, which consists of two integers: seconds and nanoseconds.
    • roslib.rostime.Time: Time contains the ROS-wide 'time' primitive representation, which consists of two integers: seconds since epoch and nanoseconds since seconds.
      • rospy.rostime.Time: Time represents the ROS 'time' primitive type, which consists of two integers: seconds since epoch and nanoseconds since seconds.
  • rospy.topics.Topic: Base class of Publisher and Subscriber
    • rospy.topics.Publisher: Class for registering as a publisher of a ROS topic.
    • rospy.topics.Subscriber: Class for registering as a subscriber to a specified topic, where the messages are of a given type.
  • rospy.impl.transport.Transport
    • rospy.impl.transport.DeadTransport
    • rospy.impl.tcpros_base.TCPROSTransport: Generic implementation of TCPROS exchange routines for both topics and services
  • roslib.xmlrpc.XmlRpcHandler: Base handler API for handlers used with XmlRpcNode.
    • rospy.impl.masterslave.ROSHandler: Base handler for both slave and master nodes.
  • rospy.service._Service: Internal-use superclass for storing service information
    • rospy.impl.tcpros_service.ServiceImpl: Implementation of ROS Service.
      • rospy.impl.tcpros_service.Service: Declare a ROS service.
    • rospy.impl.tcpros_service.ServiceProxy: Create a handle to a ROS service for invoking calls.