def _rostopic_bw(node, topic, window_size=DEFAULT_WINDOW_SIZE):
"""Periodically print the received bandwidth of a topic to console until shutdown."""
# pause bw until topic is published
msg_class = get_msg_class(node,
topic,
blocking=True,
include_hidden_topics=True)
if msg_class is None:
node.destroy_node()
return
rt = ROSTopicBandwidth(node, window_size)
node.create_subscription(msg_class,
topic,
rt.callback,
qos_profile_sensor_data,
raw=True)
print(f'Subscribed to [{topic}]')
timer = node.create_timer(1, rt.print_bw)
while rclpy.ok():
rclpy.spin_once(node)
node.destroy_timer(timer)
node.destroy_node()
rclpy.shutdown()
def main(args):
if not args.csv:
truncate_length = args.truncate_length if not args.full_length else None
callback = subscriber_cb(truncate_length, args.no_arr, args.no_str)
else:
truncate_length = args.truncate_length if not args.full_length else None
callback = subscriber_cb_csv(truncate_length, args.no_arr, args.no_str)
qos_profile = qos_profile_from_short_keys(args.qos_profile,
reliability=args.qos_reliability,
durability=args.qos_durability,
depth=args.qos_depth,
history=args.qos_history)
with NodeStrategy(args) as node:
if args.message_type is None:
message_type = get_msg_class(node,
args.topic_name,
include_hidden_topics=True)
else:
message_type = get_message(args.message_type)
if message_type is None:
raise RuntimeError(
'Could not determine the type for the passed topic')
future = None
if args.once:
future = Future()
callback = subscriber_cb_once_decorator(callback, future)
subscriber(node, args.topic_name, message_type, callback, qos_profile,
args.lost_messages, future, args.timeout)
def _rostopic_delay(node, topic, window_size=DEFAULT_WINDOW_SIZE):
"""
Periodically print the publishing delay of a topic to console until shutdown.
:param topic: topic name, ``str``
:param window_size: number of messages to average over, ``unsigned_int``
:param blocking: pause delay until topic is published, ``bool``
"""
# pause hz until topic is published
msg_class = get_msg_class(node,
topic,
blocking=True,
include_hidden_topics=True)
if msg_class is None:
node.destroy_node()
return
rt = ROSTopicDelay(node, window_size)
node.create_subscription(msg_class, topic, rt.callback_delay,
qos_profile_sensor_data)
timer = node.create_timer(1, rt.print_delay)
while rclpy.ok():
rclpy.spin_once(node)
node.destroy_timer(timer)
node.destroy_node()
rclpy.shutdown()
def main(args):
if not args.csv:
truncate_length = args.truncate_length if not args.full_length else None
callback = subscriber_cb(truncate_length, args.no_arr, args.no_str)
else:
truncate_length = args.truncate_length if not args.full_length else None
callback = subscriber_cb_csv(truncate_length, args.no_arr, args.no_str)
qos_profile = qos_profile_from_short_keys(args.qos_profile,
reliability=args.qos_reliability,
durability=args.qos_durability,
depth=args.qos_depth,
history=args.qos_history)
with NodeStrategy(args) as node:
if args.message_type is None:
message_type = get_msg_class(node,
args.topic_name,
include_hidden_topics=True)
else:
try:
message_type = get_message(args.message_type)
except (AttributeError, ModuleNotFoundError, ValueError):
raise RuntimeError('The passed message type is invalid')
if message_type is None:
raise RuntimeError(
'Could not determine the type for the passed topic')
subscriber(node, args.topic_name, message_type, callback, qos_profile,
args.lost_messages, args.raw)
def _rostopic_hz(node, topic, window_size=DEFAULT_WINDOW_SIZE, filter_expr=None, use_wtime=False):
"""
Periodically print the publishing rate of a topic to console until shutdown.
:param topic: topic name, ``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
"""
# pause hz until topic is published
msg_class = get_msg_class(
node, topic, blocking=True, include_hidden_topics=True)
if msg_class is None:
node.destroy_node()
return
rt = ROSTopicHz(node, window_size, filter_expr=filter_expr, use_wtime=use_wtime)
node.create_subscription(
msg_class,
topic,
functools.partial(rt.callback_hz, topic=topic),
qos_profile_sensor_data)
while rclpy.ok():
rclpy.spin_once(node)
rt.print_hz(topic)
node.destroy_node()
rclpy.shutdown()
def main(self, *, args):
if args.lost_messages:
print(
"WARNING: '--lost-messages' is deprecated; lost messages are reported by default",
file=sys.stderr)
self.csv = args.csv
# Validate field selection
self.field = args.field
if self.field is not None:
self.field = list(filter(None, self.field.split('.')))
if not self.field:
raise RuntimeError(f"Invalid field value '{args.field}'")
self.truncate_length = args.truncate_length if not args.full_length else None
self.no_arr = args.no_arr
self.no_str = args.no_str
self.flow_style = args.flow_style
self.filter_fn = None
if args.filter_expr:
self.filter_fn = _expr_eval(args.filter_expr)
self.future = None
if args.once:
self.future = Future()
self.include_message_info = args.include_message_info
with NodeStrategy(args) as node:
qos_profile = self.choose_qos(node, args)
if args.message_type is None:
message_type = get_msg_class(node,
args.topic_name,
include_hidden_topics=True)
else:
try:
message_type = get_message(args.message_type)
except (AttributeError, ModuleNotFoundError, ValueError):
raise RuntimeError('The passed message type is invalid')
if message_type is None:
raise RuntimeError(
'Could not determine the type for the passed topic')
self.subscribe_and_spin(node, args.topic_name, message_type,
qos_profile, args.no_lost_messages,
args.raw)
def main(args):
if not args.csv:
truncate_length = args.truncate_length if not args.full_length else None
callback = subscriber_cb(truncate_length, args.no_arr, args.no_str)
else:
truncate_length = args.truncate_length if not args.full_length else None
callback = subscriber_cb_csv(truncate_length, args.no_arr, args.no_str)
qos_profile = qos_profile_from_short_keys(
args.qos_profile, reliability=args.qos_reliability, durability=args.qos_durability)
with NodeStrategy(args) as node:
if args.message_type is None:
message_type = get_msg_class(node, args.topic_name, include_hidden_topics=True)
else:
message_type = get_message(args.message_type)
subscriber(
node, args.topic_name, message_type, callback, qos_profile)
def __init__(self, args):
super().__init__(f'transform_{os.getpid()}')
self.modules = {}
for module in args.modules:
try:
mod = importlib.import_module(module)
except ImportError:
print(f'Failed to import module: {module}', file=sys.stderr)
else:
self.modules[module] = mod
self.expression = args.expression
input_topic_in_ns = args.input
if not input_topic_in_ns.startswith('/'):
input_topic_in_ns = self.get_namespace() + args.input
input_class = get_msg_class(self,
input_topic_in_ns,
blocking=args.wait_for_start,
include_hidden_topics=True)
if input_class is None:
raise RuntimeError(
f'ERROR: Wrong input topic: {input_topic_in_ns}')
self.field = args.field
if self.field is not None:
self.field = list(filter(None, self.field.split('.')))
if not self.field:
raise RuntimeError(f"Invalid field value '{args.field}'")
self.output_class = get_message(args.output_type)
qos_profile = self.choose_qos(args, input_topic_in_ns)
self.pub = self.create_publisher(self.output_class, args.output_topic,
qos_profile)
self.sub = self.create_subscription(input_class, input_topic_in_ns,
self.callback, qos_profile)
def main(self, *, args):
# Select print function
self.print_func = _print_yaml
if args.csv:
self.print_func = _print_csv
# Validate field selection
self.field = args.field
if self.field is not None:
self.field = list(filter(None, self.field.split('.')))
if not self.field:
raise RuntimeError(f"Invalid field value '{args.field}'")
self.truncate_length = args.truncate_length if not args.full_length else None
self.no_arr = args.no_arr
self.no_str = args.no_str
qos_profile = qos_profile_from_short_keys(
args.qos_profile,
reliability=args.qos_reliability,
durability=args.qos_durability,
depth=args.qos_depth,
history=args.qos_history)
with NodeStrategy(args) as node:
if args.message_type is None:
message_type = get_msg_class(node,
args.topic_name,
include_hidden_topics=True)
else:
try:
message_type = get_message(args.message_type)
except (AttributeError, ModuleNotFoundError, ValueError):
raise RuntimeError('The passed message type is invalid')
if message_type is None:
raise RuntimeError(
'Could not determine the type for the passed topic')
self.subscribe_and_spin(node, args.topic_name, message_type,
qos_profile, args.lost_messages, args.raw)
