register.py
Go to the documentation of this file.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 00012 # notice, this list of conditions and the following disclaimer. 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. 00017 # * Neither the name of Willow Garage, Inc. nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 00034 NAME="register.py" 00035 00036 import roslib; roslib.load_manifest('rosproxy') 00037 00038 import os 00039 import sys 00040 00041 import roslib.network 00042 import rosgraph.masterapi 00043 import rospy 00044 00045 def register_main(): 00046 from optparse import OptionParser 00047 parser = OptionParser(usage="\n\t%prog service /service_name rosrpc://HOSTNAME:PORT\n"+\ 00048 "\t%prog pub /topic_name topic_msg/Type http://HOSTNAME:PORT", prog=NAME) 00049 options, args = parser.parse_args(rospy.myargv()[1:]) 00050 if len(args) < 3: 00051 parser.print_usage() 00052 sys.exit(os.EX_USAGE) 00053 00054 reg = args[0] 00055 if reg == 'service': 00056 if len(args) != 3: 00057 parser.error("Please specify service name and URI") 00058 _, name, uri = args 00059 00060 m = rosgraph.masterapi.Master('rosproxy_register') 00061 # register proxy with URI of port zero. this will create bad info 00062 # on master, but at least it will accumulate under the same port 00063 fake_api = 'http://%s:0'%roslib.network.get_host_name() 00064 m.registerService(name, uri, fake_api) 00065 00066 elif reg == 'pub': 00067 if len(args) != 4: 00068 parser.error("Please specify topic name, topic type, and URI") 00069 _, name, topic_type, uri = args 00070 00071 00072 m = rosgraph.masterapi.Master('rosproxy_register') 00073 m.registerPublisher(name, topic_type, uri) 00074 else: 00075 parser.error("Please specify 'pub' or 'service'") 00076 00077 if __name__ == '__main__': 00078 register_main()