def get_msg_text(type_, raw=False, rospack=None):
"""
Get .msg file for type_ as text
:param type_: message type, ``str``
:param raw: if True, include comments and whitespace (default False), ``bool``
:returns: text of .msg file, ``str``
:raises :exc:`ROSMsgException` If type_ is unknown
"""
if rospack is None:
rospack = rospkg.RosPack()
search_path = {}
for p in rospack.list():
search_path[p] = [os.path.join(rospack.get_path(p), 'msg')]
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_msg_by_type(context, type_, search_path)
genmsg.load_depends(context, spec, search_path)
except Exception as e:
raise ROSMsgException("Unable to load msg [%s]: %s"%(type_, e))
if raw:
return spec.text
else:
return spec_to_str(context, spec)
def __init__(self, msg_type, used_by_topic, msg_name=None, is_array=False):
self.msg_type = msg_type
if not msg_name:
self.msg_name = used_by_topic
else:
self.msg_name = msg_name
if self.msg_type in RosMessage._primitive_types:
self.is_primitive = True
else:
self.is_primitive = False
self.used_by_topic = used_by_topic
self.fields = {}
self.is_array = is_array
if len(RosMessage._search_path) == 0:
rospack = rospkg.RosPack()
for p in rospack.list():
package_paths = self.get_package_paths(p, rospack)
RosMessage._search_path[p] = [
os.path.join(d, 'msg') for d in package_paths
]
if not RosMessage._context:
RosMessage._context = genmsg.MsgContext.create_default()
if not self.is_primitive:
spec = genmsg.load_msg_by_type(RosMessage._context, self.msg_type,
RosMessage._search_path)
msgs_fields = spec.__dict__
names = msgs_fields["names"]
types = msgs_fields["types"]
for i in range(0, len(names)):
msg_field_name = names[i]
msg_field_type = types[i]
array = False
pattern = r'\[[0-9]*\]'
array_parts = re.findall(pattern, msg_field_type)
if len(array_parts) > 0:
for array_part in array_parts:
msg_field_type = msg_field_type.replace(array_part, "")
array = True
try:
msg_field = RosMessage(msg_field_type,
self.used_by_topic,
msg_field_name,
is_array=array)
self.fields[msg_field_name] = msg_field
except genmsg.msg_loader.MsgNotFound as e:
print "Message %s not found" % msg_field_type
pass
def get_msg_text(type_, raw=False, rospack=None):
"""
Get .msg file for type_ as text
:param type_: message type, ``str``
:param raw: if True, include comments and whitespace (default False), ``bool``
:returns: text of .msg file, ``str``
:raises :exc:`ROSMsgException` If type_ is unknown
"""
if rospack is None:
rospack = rospkg.RosPack()
search_path = {}
for p in rospack.list():
search_path[p] = [os.path.join(rospack.get_path(p), 'msg')]
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_msg_by_type(context, type_, search_path)
genmsg.load_depends(context, spec, search_path)
except Exception as e:
raise ROSMsgException("Unable to load msg [%s]: %s" % (type_, e))
if raw:
return spec.text
else:
return spec_to_str(context, spec)
def getString(topic):
try:
val = rosgraph.Master('/rostopic').getTopicTypes()
except socket.error:
raise ROSTopicIOException("Unable to communicate with master!")
# exact match first, followed by prefix match
matches = [(t, t_type) for t, t_type in val if t == topic]
if not matches:
matches = [(t, t_type) for t, t_type in val if topic.startswith(t+'/')]
# choose longest match
matches.sort(key=itemgetter(0), reverse=True)
if matches:
msg = matches[0][1]
rospack = rospkg.RosPack()
search_path = {}
for p in rospack.list():
search_path[p] = [os.path.join(rospack.get_path(p), 'msg')]
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_msg_by_type(context, msg, search_path)
genmsg.load_depends(context, spec, search_path)
except Exception as e:
raise ROSMsgException("Unable to load msg [%s]: %s"%(msg, e))
str = spec_to_str(context,spec)
str = str.replace('\n',' ')
str = ' '.join(str.split())
return str
def getString(topic):
import rostopic
try:
val = rosgraph.Master('/rostopic').getTopicTypes()
except socket.error:
print "Unable to communicate with ROS master. Run roscore before starting the bridge."
# exact match first, followed by prefix match
matches = [(t, t_type) for t, t_type in val if t == topic]
if not matches:
matches = [(t, t_type) for t, t_type in val if topic.startswith(t+'/')]
# choose longest match
if matches:
matches.sort(key=itemgetter(0), reverse=True)
else:
print "A match could not be found for the specified ROS topic. Run rostopic list to check if it does."
if matches:
msg = matches[0][1]
if not msg:
print "The ROS message corresponding to the specified ROS topic could not be identified."
rospack = rospkg.RosPack()
search_path = {}
for p in rospack.list():
search_path[p] = [os.path.join(rospack.get_path(p), 'msg')]
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_msg_by_type(context, msg, search_path)
genmsg.load_depends(context, spec, search_path)
except Exception as e:
raise ROSMsgException("Unable to load msg [%s]: %s"%(msg, e))
str = spec_to_str(context,spec)
str = str.replace('\n',' ')
str = ' '.join(str.split())
return str
def test_compute_full_text():
from genmsg import MsgContext, compute_full_text, load_msg_by_type, load_depends
msg_context = MsgContext.create_default()
search_path = get_search_path()
# regression test against values used for cturtle-electric
spec = load_msg_by_type(msg_context, 'rosgraph_msgs/Log', search_path)
load_depends(msg_context, spec, search_path)
val = compute_full_text(msg_context, spec)
assert val == log_full_text, "[%s][%s]"%(val, log_full_text)
spec = load_msg_by_type(msg_context, 'geometry_msgs/TwistWithCovarianceStamped', search_path)
load_depends(msg_context, spec, search_path)
val = compute_full_text(msg_context, spec)
assert val == twist_with_covariance_stamped_full_text, "[%s][%s]"%(val, twist_with_covariance_stamped_full_text)
def get_spec(msg_type, search_path):
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_msg_by_type(context, msg_type, search_path)
genmsg.load_depends(context, spec, search_path)
except Exception as e:
raise ROSMsgException("Unable to load msg [%s]: %s" % (msg_type, e))
return spec
def get_spec(msg_type, search_path):
context = genmsg.MsgContext.create_default()
try:
spec = genmsg.load_msg_by_type(context, msg_type, search_path)
genmsg.load_depends(context, spec, search_path)
except Exception as e:
raise ROSMsgException("Unable to load msg [%s]: %s"%(msg_type, e))
return spec
def test_compute_full_text():
from genmsg import MsgContext, compute_full_text, load_msg_by_type, load_depends
msg_context = MsgContext.create_default()
search_path = get_search_path()
# regression test against values used for cturtle-electric
spec = load_msg_by_type(msg_context, 'rosgraph_msgs/Log', search_path)
load_depends(msg_context, spec, search_path)
val = compute_full_text(msg_context, spec)
assert val == log_full_text, "[%s][%s]"%(val, log_full_text)
spec = load_msg_by_type(msg_context, 'geometry_msgs/TwistWithCovarianceStamped', search_path)
load_depends(msg_context, spec, search_path)
val = compute_full_text(msg_context, spec)
assert val == twist_with_covariance_stamped_full_text, "[%s][%s]"%(val, twist_with_covariance_stamped_full_text)
def __init__(self, msg_type, used_by_topic, msg_name = None, is_array = False):
self.msg_type = msg_type
if not msg_name:
self.msg_name = used_by_topic
else:
self.msg_name = msg_name
if self.msg_type in RosMessage._primitive_types:
self.is_primitive = True
else:
self.is_primitive = False
self.used_by_topic = used_by_topic
self.fields = {}
self.is_array = is_array
if len(RosMessage._search_path) == 0:
rospack = rospkg.RosPack()
for p in rospack.list():
package_paths = self.get_package_paths(p, rospack)
RosMessage._search_path[p] = [os.path.join(d, 'msg') for d in package_paths]
if not RosMessage._context:
RosMessage._context = genmsg.MsgContext.create_default()
if not self.is_primitive:
spec = genmsg.load_msg_by_type(RosMessage._context, self.msg_type, RosMessage._search_path)
msgs_fields = spec.__dict__
names = msgs_fields["names"]
types = msgs_fields["types"]
for i in range(0,len(names)):
msg_field_name = names[i]
msg_field_type = types[i]
array = False
pattern = r'\[[0-9]*\]'
array_parts = re.findall(pattern, msg_field_type)
if len(array_parts) > 0:
for array_part in array_parts:
msg_field_type = msg_field_type.replace(array_part,"")
array = True
try:
msg_field = RosMessage(msg_field_type, self.used_by_topic, msg_field_name, is_array=array)
self.fields[msg_field_name] = msg_field
except genmsg.msg_loader.MsgNotFound as e:
print "Message %s not found" % msg_field_type
pass
