def test_publisher_constructor(self):
callbacks = PublisherEventCallbacks()
liveliness_callback = Mock()
deadline_callback = Mock()
# No arg
publisher = self.node.create_publisher(EmptyMsg, 'test_topic', 10)
self.assertEqual(len(publisher.event_handlers), 0)
self.node.destroy_publisher(publisher)
# Arg with no callbacks
publisher = self.node.create_publisher(
EmptyMsg, 'test_topic', 10, event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers), 0)
self.node.destroy_publisher(publisher)
# Arg with one of the callbacks
callbacks.deadline = deadline_callback
publisher = self.node.create_publisher(
EmptyMsg, 'test_topic', 10, event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers), 1)
self.node.destroy_publisher(publisher)
# Arg with both callbacks
callbacks.liveliness = liveliness_callback
publisher = self.node.create_publisher(
EmptyMsg, 'test_topic', 10, event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers), 2)
self.node.destroy_publisher(publisher)
def test_publisher_constructor(self):
callbacks = PublisherEventCallbacks()
liveliness_callback = Mock()
deadline_callback = Mock()
incompatible_qos_callback = Mock()
expected_num_event_handlers = 0 if self.is_fastrtps else 1
# No arg
publisher = self.node.create_publisher(EmptyMsg, self.topic_name, 10)
self.assertEqual(len(publisher.event_handlers),
expected_num_event_handlers)
self.node.destroy_publisher(publisher)
# Arg with no callbacks
publisher = self.node.create_publisher(EmptyMsg,
self.topic_name,
10,
event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers),
expected_num_event_handlers)
self.node.destroy_publisher(publisher)
# Arg with one of the callbacks
callbacks.deadline = deadline_callback
expected_num_event_handlers += 1
publisher = self.node.create_publisher(EmptyMsg,
self.topic_name,
10,
event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers),
expected_num_event_handlers)
self.node.destroy_publisher(publisher)
# Arg with two callbacks
callbacks.liveliness = liveliness_callback
expected_num_event_handlers += 1
publisher = self.node.create_publisher(EmptyMsg,
self.topic_name,
10,
event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers),
expected_num_event_handlers)
self.node.destroy_publisher(publisher)
# Arg with three callbacks
callbacks.incompatible_qos = incompatible_qos_callback
try:
publisher = self.node.create_publisher(EmptyMsg,
self.topic_name,
10,
event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers), 3)
self.node.destroy_publisher(publisher)
except UnsupportedEventTypeError:
self.assertTrue(self.is_fastrtps)
def __init__(self):
custom_callback = lambda event: print("Custom Incompatible Callback!")
callbacks = PublisherEventCallbacks()
callbacks.incompatible_qos = custom_callback
super().__init__('minimal_publisher')
self.publisher_ = self.create_publisher(String,
'topic',
10,
event_callbacks=callbacks)
timer_period = 0.5 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
self.i = 0
def __init__(
self,
publisher_handle: Handle,
msg_type: MsgType,
topic: str,
qos_profile: QoSProfile,
event_callbacks: PublisherEventCallbacks,
callback_group: CallbackGroup,
) -> None:
"""
Create a container for a ROS publisher.
.. warning:: Users should not create a publisher with this constuctor, instead they should
call :meth:`.Node.create_publisher`.
A publisher is used as a primary means of communication in a ROS system by publishing
messages on a ROS topic.
:param publisher_handle: Capsule pointing to the underlying ``rcl_publisher_t`` object.
:param msg_type: The type of ROS messages the publisher will publish.
:param topic: The name of the topic the publisher will publish to.
:param qos_profile: The quality of service profile to apply to the publisher.
"""
self.__handle = publisher_handle
self.msg_type = msg_type
self.topic = topic
self.qos_profile = qos_profile
self.event_handlers = event_callbacks.create_event_handlers(
callback_group, publisher_handle)
def main(args=None):
parsed_args = parse_args()
rclpy.init(args=args)
topic = 'qos_deadline_chatter'
deadline = Duration(seconds=parsed_args.deadline / 1000.0)
qos_profile = QoSProfile(depth=10, deadline=deadline)
subscription_callbacks = SubscriptionEventCallbacks(
deadline=lambda event: get_logger('Listener').info(str(event)))
listener = Listener(topic,
qos_profile,
event_callbacks=subscription_callbacks)
publisher_callbacks = PublisherEventCallbacks(
deadline=lambda event: get_logger('Talker').info(str(event)))
talker = Talker(topic, qos_profile, event_callbacks=publisher_callbacks)
publish_for_seconds = parsed_args.publish_for / 1000.0
pause_for_seconds = parsed_args.pause_for / 1000.0
pause_timer = talker.create_timer( # noqa: F841
publish_for_seconds, lambda: talker.pause_for(pause_for_seconds))
executor = SingleThreadedExecutor()
executor.add_node(listener)
executor.add_node(talker)
try:
executor.spin()
except KeyboardInterrupt:
pass
except ExternalShutdownException:
sys.exit(1)
finally:
rclpy.try_shutdown()
def publisher(
node: Node,
message_type: MsgType,
topic_name: str,
values: dict,
period: float,
print_nth: int,
once: bool,
qos_profile: QoSProfile,
) -> Optional[str]:
"""Initialize a node with a single publisher and run its publish loop (maybe only once)."""
msg_module = get_message(message_type)
values_dictionary = yaml.safe_load(values)
if not isinstance(values_dictionary, dict):
return 'The passed value needs to be a dictionary in YAML format'
publisher_callbacks = PublisherEventCallbacks(
incompatible_qos=handle_incompatible_qos_event)
try:
pub = node.create_publisher(msg_module,
topic_name,
qos_profile,
event_callbacks=publisher_callbacks)
except UnsupportedEventTypeError:
pub = node.create_publisher(msg_module, topic_name, qos_profile)
msg = msg_module()
try:
set_message_fields(msg, values_dictionary)
except Exception as e:
return 'Failed to populate field: {0}'.format(e)
print('publisher: beginning loop')
count = 0
def timer_callback():
nonlocal count
count += 1
if print_nth and count % print_nth == 0:
print('publishing #%d: %r\n' % (count, msg))
pub.publish(msg)
timer = node.create_timer(period, timer_callback)
if once:
rclpy.spin_once(node)
time.sleep(
0.1) # make sure the message reaches the wire before exiting
else:
rclpy.spin(node)
node.destroy_timer(timer)
def main(args=None):
parsed_args = parse_args()
rclpy.init(args=args)
topic = 'qos_liveliness_chatter'
liveliness_lease_duration = Duration(
seconds=parsed_args.liveliness_lease_duration / 1000.0)
liveliness_policy = POLICY_MAP[parsed_args.policy]
qos_profile = QoSProfile(
depth=10,
liveliness=liveliness_policy,
liveliness_lease_duration=liveliness_lease_duration)
subscription_callbacks = SubscriptionEventCallbacks(
liveliness=lambda event: get_logger('Listener').info(str(event)))
listener = Listener(topic,
qos_profile,
event_callbacks=subscription_callbacks)
publisher_callbacks = PublisherEventCallbacks(
liveliness=lambda event: get_logger('Talker').info(str(event)))
talker = Talker(topic,
qos_profile,
event_callbacks=publisher_callbacks,
assert_node_period=parsed_args.node_assert_period / 1000.0,
assert_topic_period=parsed_args.topic_assert_period /
1000.0)
executor = SingleThreadedExecutor()
def kill_talker():
if liveliness_policy == QoSLivelinessPolicy.RMW_QOS_POLICY_LIVELINESS_AUTOMATIC:
executor.remove_node(talker)
talker.destroy_node()
elif liveliness_policy == QoSLivelinessPolicy.RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE:
talker.stop()
elif liveliness_policy == QoSLivelinessPolicy.RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC:
talker.stop()
kill_timer.cancel()
if parsed_args.kill_publisher_after > 0:
kill_timer = listener.create_timer( # noqa: F841
parsed_args.kill_publisher_after / 1000.0, kill_talker)
executor.add_node(listener)
executor.add_node(talker)
executor.spin()
rclpy.shutdown()
def main(args=None):
# Argument parsing and usage
parser = get_parser()
parsed_args = parser.parse_args()
# Configuration variables
qos_policy_name = parsed_args.incompatible_qos_policy_name
qos_profile_publisher = QoSProfile(depth=10)
qos_profile_subscription = QoSProfile(depth=10)
if qos_policy_name == 'durability':
print('Durability incompatibility selected.\n'
'Incompatibility condition: publisher durability kind <'
'subscripition durability kind.\n'
'Setting publisher durability to: VOLATILE\n'
'Setting subscription durability to: TRANSIENT_LOCAL\n')
qos_profile_publisher.durability = \
QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_VOLATILE
qos_profile_subscription.durability = \
QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL
elif qos_policy_name == 'deadline':
print(
'Deadline incompatibility selected.\n'
'Incompatibility condition: publisher deadline > subscription deadline.\n'
'Setting publisher durability to: 2 seconds\n'
'Setting subscription durability to: 1 second\n')
qos_profile_publisher.deadline = Duration(seconds=2)
qos_profile_subscription.deadline = Duration(seconds=1)
elif qos_policy_name == 'liveliness_policy':
print('Liveliness Policy incompatibility selected.\n'
'Incompatibility condition: publisher liveliness policy <'
'subscripition liveliness policy.\n'
'Setting publisher liveliness policy to: AUTOMATIC\n'
'Setting subscription liveliness policy to: MANUAL_BY_TOPIC\n')
qos_profile_publisher.liveliness = \
QoSLivelinessPolicy.RMW_QOS_POLICY_LIVELINESS_AUTOMATIC
qos_profile_subscription.liveliness = \
QoSLivelinessPolicy.RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC
elif qos_policy_name == 'liveliness_lease_duration':
print(
'Liveliness lease duration incompatibility selected.\n'
'Incompatibility condition: publisher liveliness lease duration >'
'subscription liveliness lease duration.\n'
'Setting publisher liveliness lease duration to: 2 seconds\n'
'Setting subscription liveliness lease duration to: 1 second\n')
qos_profile_publisher.liveliness_lease_duration = Duration(seconds=2)
qos_profile_subscription.liveliness_lease_duration = Duration(
seconds=1)
elif qos_policy_name == 'reliability':
print(
'Reliability incompatibility selected.\n'
'Incompatibility condition: publisher reliability < subscripition reliability.\n'
'Setting publisher reliability to: BEST_EFFORT\n'
'Setting subscription reliability to: RELIABLE\n')
qos_profile_publisher.reliability = \
QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT
qos_profile_subscription.reliability = \
QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_RELIABLE
else:
print('{name} not recognised.'.format(name=qos_policy_name))
parser.print_help()
return 0
# Initialization and configuration
rclpy.init(args=args)
topic = 'incompatible_qos_chatter'
num_msgs = 5
publisher_callbacks = PublisherEventCallbacks(
incompatible_qos=lambda event: get_logger('Talker').info(str(event)))
subscription_callbacks = SubscriptionEventCallbacks(
incompatible_qos=lambda event: get_logger('Listener').info(str(event)))
try:
talker = Talker(topic,
qos_profile_publisher,
event_callbacks=publisher_callbacks,
publish_count=num_msgs)
listener = Listener(topic,
qos_profile_subscription,
event_callbacks=subscription_callbacks)
except UnsupportedEventTypeError as exc:
print()
print(exc, end='\n\n')
print('Please try this demo using a different RMW implementation')
return -1
executor = SingleThreadedExecutor()
executor.add_node(listener)
executor.add_node(talker)
try:
while talker.publish_count < num_msgs:
executor.spin_once()
except KeyboardInterrupt:
pass
rclpy.shutdown()
return 0
