def echo_util(topic, callback_echo):
_check_master()
rospy.init_node('rostopic', anonymous=True, disable_signals=True)
msg_class, real_topic, msg_eval = get_topic_class(topic, blocking=True)
if msg_class is None:
# occurs on ctrl-C
return
callback_echo.msg_eval = msg_eval
# extract type information for submessages
type_information = None
if len(topic) > len(real_topic):
subtopic = topic[len(real_topic):]
subtopic = subtopic.strip('/')
if subtopic:
fields = subtopic.split('/')
submsg_class = msg_class
while fields:
field = fields[0].split('[')[0]
del fields[0]
index = submsg_class.__slots__.index(field)
type_information = submsg_class._slot_types[index]
if fields:
submsg_class = roslib.message.get_message_class(
type_information.split('[', 1)[0])
if not submsg_class:
raise ROSTopicIOException(
"Cannot load message class for [%s]. Are your messages built?"
% type_information)
use_sim_time = rospy.get_param('/use_sim_time', False)
sub = rospy.Subscriber(real_topic, msg_class, callback_echo.callback, {
'topic': topic,
'type_information': type_information
})
if use_sim_time:
# #2950: print warning if nothing received for two seconds
timeout_t = time.time() + 2.
while time.time() < timeout_t and \
callback_echo.count == 0 and \
not rospy.is_shutdown() and \
not callback_echo.done:
rospy.rostime.wallsleep(0.1)
if callback_echo.count == 0 and \
not rospy.is_shutdown() and \
not callback_echo.done:
raise ROSTopicIOException(
"WARNING: no messages received and simulated time is active.\nIs /clock being published?\n"
)
while not rospy.is_shutdown() and not callback_echo.done:
rospy.rostime.wallsleep(0.1)
def get_rostopic_hz(topic,
window_size=-1,
filter_expr=None,
use_wtime=False,
avg=2):
"""
Periodically print the publishing rate of a topic to console until
shutdown
:param topic: topic names, ``list`` of ``str``
:param window_size: number of messages to average over, -1 for infinite, ``int``
:param filter_expr: Python filter expression that is called with m, the message instance
"""
rostopic._check_master()
if rospy.is_shutdown():
return
rt = rostopic.ROSTopicHz(window_size,
filter_expr=filter_expr,
use_wtime=use_wtime)
msg_class, real_topic, _ = rostopic.get_topic_class(topic, blocking=False)
if real_topic is None:
return 0.0
# pause hz until topic is published
# we use a large buffer size as we don't know what sort of messages we're dealing with.
# may parameterize this in the future
if filter_expr is not None:
# have to subscribe with topic_type
rospy.Subscriber(real_topic,
msg_class,
rt.callback_hz,
callback_args=topic)
else:
rospy.Subscriber(real_topic,
rospy.AnyMsg,
rt.callback_hz,
callback_args=topic)
# if rospy.get_param('use_sim_time', False):
# print("WARNING: may be using simulated time",file=sys.stderr)
rostopic._sleep(1.0)
hz_avg = 0.0
for i in range(0, avg):
hz_cur = rt.get_hz(topic)
if hz_cur:
hz_avg = hz_avg + hz_cur[0]
rostopic._sleep(0.5)
return hz_avg / avg
def subscribe_call():
op = request.data.get('op', None)
service_name = request.data.get('service', None)
args = request.data.get('args', None)
if op is None or service_name is None or op != 'call_service':
return status.HTTP_400_BAD_REQUEST
else:
_check_master()
service_name = rosgraph.names.script_resolve_name('rosservice', service_name)
if args is None:
q, response = call_service_util(service_name, [], service_class=None)
else:
q, response = call_service_util(service_name, [yaml.load(JSONEncoder().encode(args))], service_class=None)
print response
return yaml.load(str(response))
def echo_util(topic, callback_echo):
_check_master()
rospy.init_node('rostopic', anonymous=True, disable_signals=True)
msg_class, real_topic, msg_eval = get_topic_class(topic, blocking=True)
if msg_class is None:
# occurs on ctrl-C
return
callback_echo.msg_eval = msg_eval
# extract type information for submessages
type_information = None
if len(topic) > len(real_topic):
subtopic = topic[len(real_topic):]
subtopic = subtopic.strip('/')
if subtopic:
fields = subtopic.split('/')
submsg_class = msg_class
while fields:
field = fields[0].split('[')[0]
del fields[0]
index = submsg_class.__slots__.index(field)
type_information = submsg_class._slot_types[index]
if fields:
submsg_class = roslib.message.get_message_class(type_information.split('[', 1)[0])
if not submsg_class:
raise ROSTopicIOException("Cannot load message class for [%s]. Are your messages built?" % type_information)
use_sim_time = rospy.get_param('/use_sim_time', False)
sub = rospy.Subscriber(real_topic, msg_class, callback_echo.callback, {'topic': topic, 'type_information': type_information})
if use_sim_time:
# #2950: print warning if nothing received for two seconds
timeout_t = time.time() + 2.
while time.time() < timeout_t and \
callback_echo.count == 0 and \
not rospy.is_shutdown() and \
not callback_echo.done:
rospy.rostime.wallsleep(0.1)
if callback_echo.count == 0 and \
not rospy.is_shutdown() and \
not callback_echo.done:
raise ROSTopicIOException("WARNING: no messages received and simulated time is active.\nIs /clock being published?\n")
while not rospy.is_shutdown() and not callback_echo.done:
rospy.rostime.wallsleep(0.1)
def subscribe_call():
op = request.data.get('op', None)
service_name = request.data.get('service', None)
args = request.data.get('args', None)
if op is None or service_name is None or op != 'call_service':
return status.HTTP_400_BAD_REQUEST
else:
_check_master()
service_name = rosgraph.names.script_resolve_name(
'rosservice', service_name)
if args is None:
q, response = call_service_util(service_name, [],
service_class=None)
else:
q, response = call_service_util(
service_name, [yaml.load(JSONEncoder().encode(args))],
service_class=None)
print response
return yaml.load(str(response))
def publish():
op = request.data.get('op', None)
topic_type = request.data.get('type', None)
topic_name = request.data.get('topic', None)
msg = request.data.get('msg', None)
if op is None or topic_type is None or topic_name is None or msg is None:
return status.HTTP_400_BAD_REQUEST
else:
_check_master()
topic_name = rosgraph.names.script_resolve_name('rostopic', topic_name)
try:
msg_class = roslib.message.get_message_class(topic_type)
except:
raise ROSTopicException("invalid topic type: %s" % topic_type)
if msg_class is None:
pkg = _resource_name_package(topic_type)
raise ROSTopicException(
"invalid message type: %s.\nIf this is a valid message type, perhaps you need to type 'rosmake %s'"
% (topic_type, pkg))
#NOT being run in main thread so signals needs to be disabled
rospy.init_node('rostopic',
anonymous=True,
disable_rosout=True,
disable_rostime=True,
disable_signals=True)
pub = rospy.Publisher(topic_name,
msg_class,
latch=True,
queue_size=100)
argv_publish(pub, msg_class, [yaml.load(JSONEncoder().encode(msg))],
None, True, False)
return {
'msg': 'PLEASE WAIT FOR ROBOT TO MOVE',
'status': 'PUBLISHED',
'body': request.data
}, status.HTTP_200_OK
def publish():
op = request.data.get('op', None)
topic_type = request.data.get('type', None)
topic_name = request.data.get('topic', None)
msg = request.data.get('msg', None)
if op is None or topic_type is None or topic_name is None or msg is None:
return status.HTTP_400_BAD_REQUEST
else:
_check_master()
topic_name = rosgraph.names.script_resolve_name('rostopic', topic_name)
try:
msg_class = roslib.message.get_message_class(topic_type)
except:
raise ROSTopicException("invalid topic type: %s" % topic_type)
if msg_class is None:
pkg = _resource_name_package(topic_type)
raise ROSTopicException(
"invalid message type: %s.\nIf this is a valid message type, perhaps you need to type 'rosmake %s'" % (
topic_type, pkg))
#NOT being run in main thread so signals needs to be disabled
rospy.init_node('rostopic', anonymous=True, disable_rosout=True, disable_rostime=True, disable_signals=True)
pub = rospy.Publisher(topic_name, msg_class, latch=True, queue_size=100)
argv_publish(pub, msg_class, [yaml.load(JSONEncoder().encode(msg))], None, True, False)
return {'msg': 'PLEASE WAIT FOR ROBOT TO MOVE', 'status': 'PUBLISHED', 'body': request.data}, status.HTTP_200_OK