def main():
with rosenv.RosEnv() as re:
re.add_package("com_github_robotwebtools_rosbridge_suite/rosapi")
re.add_package(
"com_github_robotwebtools_rosbridge_suite/rosbridge_server")
re.add_package("com_github_robotwebtools_tf2_web_republisher",
"tf2_web_republisher")
re.add_package("com_github_ros_common_msgs/actionlib_msgs")
re.add_package("com_github_ros_common_msgs/nav_msgs")
re.add_package("com_github_ros_common_msgs/sensor_msgs")
re.add_package(
"com_github_ros_planning_navigation_msgs/move_base_msgs")
re.add_package("com_github_ros_ros_comm/tools/rosgraph")
re.add_package("com_github_ros_ros_comm/tools/roslaunch")
re.add_package("com_github_ros_ros_comm/tools/rosnode")
re.add_to_path("com_github_ros_catkin")
re.add_to_path("com_github_ros_infrastructure_rospkg")
re.add_binary("com_github_robotwebtools_rosbridge_suite/rosapi_node",
"rosapi")
re.add_binary(
"com_github_robotwebtools_rosbridge_suite/rosbridge_websocket",
"rosbridge_server")
launch = os.path.join(
re.runfiles,
"cloud_robotics/src/docker/ros_websocket/websocket.launch")
import roslaunch
roslaunch.main(["roslaunch", "--wait", launch])
def main():
with rosenv.RosEnv() as re:
re.add_package("com_github_ros_ros_comm/tools/rosgraph")
re.add_package("com_github_ros_ros_comm/tools/roslaunch")
re.add_package("com_github_ros_ros_comm/tools/rosout")
re.add_binary("com_github_ros_ros_comm/rosout", "rosout")
re.add_to_path("com_github_ros_infrastructure_rospkg")
re.add_to_path("com_github_ros_ros_comm")
import roslaunch
roslaunch.main(["roscore", "--core"] + sys.argv[1:])
def main():
basedir = os.path.dirname(__file__)
launch_file = os.path.join(basedir, 'roscore_sim.launch')
with rosenv.RosEnv() as re:
re.add_package("com_github_ros_ros_comm/tools/rosgraph")
re.add_package("com_github_ros_ros_comm/tools/roslaunch")
re.add_package("com_github_ros_ros_comm/tools/rosout")
re.add_binary("com_github_ros_ros_comm/rosout", "rosout")
re.add_to_path("com_github_ros_infrastructure_rospkg")
re.add_to_path("com_github_ros_ros_comm")
import roslaunch
uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
roslaunch.configure_logging(uuid)
launch = roslaunch.parent.ROSLaunchParent(uuid, [launch_file])
launch.start()
launch.spin()
def main():
with rosenv.RosEnv() as re:
re.add_package("com_github_ros_ros_comm/tools/rosgraph")
ros_adapter.main()
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from prometheus_client import start_http_server, Counter
import rosenv
import rospy
from std_msgs.msg import String
messages = Counter('messages', 'Messages received')
def callback(data):
rospy.loginfo(rospy.get_caller_id() + 'i heard %s', data.data)
messages.inc()
if __name__ == '__main__':
start_http_server(8000)
with rosenv.RosEnv() as re:
re.add_package('com_github_ros_ros_comm/tools/rosgraph')
rospy.init_node('listener', anonymous=True)
rospy.Subscriber('chatter', String, callback)
rospy.spin()
