def advertise_tutorials(cancel=False,
regex_patterns=False,
ns=_gateway_namespace):
rospy.wait_for_service(ns + '/advertise')
advertise = rospy.ServiceProxy(ns + '/advertise', gateway_srvs.Advertise)
req = gateway_srvs.AdvertiseRequest()
req.cancel = cancel
rule = gateway_msgs.Rule()
if regex_patterns:
names, nodes = create_tutorial_dictionaries(use_regex_patterns=True)
else:
names, nodes = create_tutorial_dictionaries(use_regex_patterns=False)
for connection_type in connection_types:
req.rules = []
rule.name = names[connection_type]
rule.type = connection_type
rule.node = nodes[connection_type]
rospy.loginfo("Advertise : %s [%s,%s,%s]." % (_action_text(
cancel, 'advertising'), rule.type, rule.name, rule.node or 'None'))
req.rules.append(rule)
resp = advertise(req)
if resp.result == gateway_msgs.ErrorCodes.ADVERTISEMENT_EXISTS: # already advertising all error is ignored. this call only has no effect.
pass
elif resp.result != 0:
raise GatewaySampleRuntimeError("failed to advertise %s [%s]" %
(rule.name, resp.error_message))
def advertise(namespace, topic, node):
rospy.init_node('generic_advertiser')
rospy.wait_for_service('/gateway/advertise')
advertise_service = rospy.ServiceProxy('/gateway/advertise',
gateway_srvs.Advertise)
req = gateway_srvs.AdvertiseRequest()
rule = gateway_msgs.Rule()
if topic[0][0] == '/':
rule.name = topic[0]
elif not namespace:
rule.name = '/' + topic[0]
else:
rule.name = '/' + namespace[0] + '/' + topic[0]
rule.type = gateway_msgs.ConnectionType.PUBLISHER
if not node:
rule.node = ''
elif node[0][0] == '/':
rule.node = node[0]
elif not namespace:
rule.node = '/' + node[0]
else:
rule.node = '/' + namespace[0] + '/' + node[0]
req.rules.append(rule)
rospy.loginfo("Advertise : [%s,%s,%s]." %
(rule.name, rule.type, rule.node))
resp = advertise_service(req)
if resp.result != 0:
rospy.logerr("Advertise : %s" % resp.error_message)
rospy.loginfo("Finished advertising connection.")
def _advertise_services(self, service_names):
'''
Advertise rocon_app_manager services via the gateway,
if it is available.
@param service_names
@type string
'''
if self._gateway_name:
req = gateway_srvs.AdvertiseRequest()
req.cancel = False
req.rules = []
for service_name in service_names:
req.rules.append(create_gateway_rule(service_name, gateway_msgs.ConnectionType.SERVICE))
unused_resp = self._gateway_services['advertise'](req)
def advertise(topic):
rospy.init_node('advertise_hub_publisher')
rospy.wait_for_service('/gateway/advertise')
advertise_service=rospy.ServiceProxy('/gateway/advertise', gateway_srvs.Advertise)
req = gateway_srvs.AdvertiseRequest()
rule = gateway_msgs.Rule()
rule.name = '/' + topic
rule.type = gateway_msgs.ConnectionType.PUBLISHER
rule.node = ""
req.rules.append(rule)
rospy.loginfo("Advertise : [%s,%s,%s]."%(rule.name, rule.type, rule.node))
resp = advertise_service(req)
if resp.result != 0:
rospy.logerr("Advertise : %s"%resp.error_message)
rospy.loginfo("Finished advertising connection.")
