Python load_srv_by_typeの例

コード例 #1

ファイル: __init__.py プロジェクト: schneider42/ros_comm6

def get_srv_text(type_, raw=False, rospack=None):
    """
    Get .srv file for type_ as text
    :param type_: service type, ``str``
    :param raw: if True, include comments and whitespace (default False), ``bool``
    :returns: text of .srv file, ``str``
    @raise ROSMsgException: if type_ is unknown
    """
    if rospack is None:
        rospack = rospkg.RosPack()
    srv_search_path = {}
    msg_search_path = {}
    for p in rospack.list():
        path = rospack.get_path(p)
        msg_search_path[p] = [os.path.join(path, 'msg')]
        srv_search_path[p] = [os.path.join(path, 'srv')]
        
    #TODO: cache context somewhere
    context = genmsg.MsgContext.create_default()
    try:
        spec = genmsg.load_srv_by_type(context, type_, srv_search_path)
        genmsg.load_depends(context, spec, msg_search_path)
    except Exception as e:
        raise ROSMsgException("Unknown srv type [%s]: %s"%(type_, e))
    
    if raw:
        return spec.text
    else:
        return spec_to_str(context, spec.request)+'---\n'+spec_to_str(context, spec.response)

コード例 #2

def get_srv_text(type_, raw=False, rospack=None):
    """
    Get .srv file for type_ as text
    :param type_: service type, ``str``
    :param raw: if True, include comments and whitespace (default False), ``bool``
    :returns: text of .srv file, ``str``
    @raise ROSMsgException: if type_ is unknown
    """
    if rospack is None:
        rospack = rospkg.RosPack()
    srv_search_path = {}
    msg_search_path = {}
    for p in rospack.list():
        path = rospack.get_path(p)
        msg_search_path[p] = [os.path.join(path, 'msg')]
        srv_search_path[p] = [os.path.join(path, 'srv')]

    #TODO: cache context somewhere
    context = genmsg.MsgContext.create_default()
    try:
        spec = genmsg.load_srv_by_type(context, type_, srv_search_path)
        genmsg.load_depends(context, spec, msg_search_path)
    except Exception as e:
        raise ROSMsgException("Unknown srv type [%s]: %s" % (type_, e))

    if raw:
        return spec.text
    else:
        return spec_to_str(context, spec.request) + '---\n' + spec_to_str(
            context, spec.response)