def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to listen to (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
parser.add_argument(
'message_type', nargs='?',
help="Type of the ROS message (e.g. 'std_msgs/String')")
add_qos_arguments_to_argument_parser(
parser, is_publisher=False, default_preset='sensor_data')
parser.add_argument(
'--csv', action='store_true',
help='Output all recursive fields separated by commas (e.g. for '
'plotting)')
parser.add_argument(
'--full-length', '-f', action='store_true',
help='Output all elements for arrays, bytes, and string with a '
"length > '--truncate-length', by default they are truncated "
"after '--truncate-length' elements with '...''")
parser.add_argument(
'--truncate-length', '-l', type=unsigned_int, default=DEFAULT_TRUNCATE_LENGTH,
help='The length to truncate arrays, bytes, and string to '
'(default: %d)' % DEFAULT_TRUNCATE_LENGTH)
parser.add_argument(
'--no-arr', action='store_true', help="Don't print array fields of messages")
parser.add_argument(
'--no-str', action='store_true', help="Don't print string fields of messages")
def add_arguments(self, parser, cli_name):
add_strategy_node_arguments(parser)
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to listen to (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
parser.add_argument(
'message_type',
nargs='?',
help="Type of the ROS message (e.g. 'std_msgs/msg/String')")
add_qos_arguments_to_argument_parser(parser,
is_publisher=False,
default_preset='sensor_data')
parser.add_argument(
'--csv',
action='store_true',
help='Output all recursive fields separated by commas (e.g. for '
'plotting)')
parser.add_argument(
'--field',
type=str,
default=None,
help='Echo a selected field of a message. '
"Use '.' to select sub-fields. "
'For example, to echo the position field of a nav_msgs/msg/Odometry message: '
"'ros2 topic echo /odom --field pose.pose.position'",
)
parser.add_argument(
'--full-length',
'-f',
action='store_true',
help='Output all elements for arrays, bytes, and string with a '
"length > '--truncate-length', by default they are truncated "
"after '--truncate-length' elements with '...''")
parser.add_argument(
'--truncate-length',
'-l',
type=unsigned_int,
default=DEFAULT_TRUNCATE_LENGTH,
help='The length to truncate arrays, bytes, and string to '
'(default: %d)' % DEFAULT_TRUNCATE_LENGTH)
parser.add_argument('--no-arr',
action='store_true',
help="Don't print array fields of messages")
parser.add_argument('--no-str',
action='store_true',
help="Don't print string fields of messages")
parser.add_argument('--lost-messages',
action='store_true',
help='Report when a message is lost')
parser.add_argument('--raw',
action='store_true',
help='Echo the raw binary representation')
def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to publish to (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
arg = parser.add_argument(
'message_type',
help="Type of the ROS message (e.g. 'std_msgs/String')")
arg.completer = TopicTypeCompleter(topic_name_key='topic_name')
arg = parser.add_argument(
'values',
nargs='?',
default='{}',
help='Values to fill the message with in YAML format '
"(e.g. 'data: Hello World'), "
'otherwise the message will be published with default values')
arg.completer = TopicMessagePrototypeCompleter(
topic_type_key='message_type')
parser.add_argument('-r',
'--rate',
metavar='N',
type=positive_float,
default=1.0,
help='Publishing rate in Hz (default: 1)')
parser.add_argument(
'-p',
'--print',
metavar='N',
type=int,
default=1,
help='Only print every N-th published message (default: 1)')
group = parser.add_mutually_exclusive_group()
group.add_argument('-1',
'--once',
action='store_true',
help='Publish one message and exit')
group.add_argument('-t',
'--times',
type=nonnegative_int,
default=0,
help='Publish this number of times and then exit')
parser.add_argument('-n',
'--node-name',
help='Name of the created publishing node')
add_qos_arguments_to_argument_parser(parser,
is_publisher=True,
default_preset='system_default')
