register.py

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#!/usr/bin/env python
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NAME="register.py"

import os
import sys

import rosgraph
import rosgraph.network
import rospy

def register_main():
    from optparse import OptionParser
    parser = OptionParser(usage="\n\t%prog service /service_name rosrpc://HOSTNAME:PORT\n"+\
                              "\t%prog pub /topic_name topic_msg/Type http://HOSTNAME:PORT", prog=NAME)
    options, args = parser.parse_args(rospy.myargv()[1:])
    if len(args) < 3:
        parser.print_usage()
        sys.exit(os.EX_USAGE)
        
    reg = args[0]
    if reg == 'service':
        if len(args) != 3:
            parser.error("Please specify service name and URI")
        _, name, uri = args
        
        m = rosgraph.Master('rosproxy_register')
        # register proxy with URI of port zero. this will create bad info
        # on master, but at least it will accumulate under the same port
        fake_api = 'http://%s:0'%rosgraph.network.get_host_name()
        m.registerService(name, uri, fake_api)

    elif reg == 'pub':
        if len(args) != 4:
            parser.error("Please specify topic name, topic type, and URI")
        _, name, topic_type, uri = args

        
        m = rosgraph.Master('rosproxy_register')
        m.registerPublisher(name, topic_type, uri)
    else:
        parser.error("Please specify 'pub' or 'service'")
    
if __name__ == '__main__':
    register_main()