def main(self, *, args): # noqa: D102
with NodeStrategy(args) as node:
node_names = get_node_names(
node=node, include_hidden_nodes=args.include_hidden_nodes)
if args.node_name not in [n.full_name for n in node_names]:
return 'Node not found'
with DirectNode(args) as node:
response = call_get_parameters(node=node,
node_name=args.node_name,
parameter_names=[args.name])
assert len(response.values) <= 1
# requested parameter not set
if not response.values:
return 'Parameter not set'
# extract type specific value
pvalue = response.values[0]
if pvalue.type == ParameterType.PARAMETER_BOOL:
label = 'Boolean value is:'
value = pvalue.bool_value
elif pvalue.type == ParameterType.PARAMETER_INTEGER:
label = 'Integer value is:'
value = pvalue.integer_value
elif pvalue.type == ParameterType.PARAMETER_DOUBLE:
label = 'Double value is:'
value = pvalue.double_value
elif pvalue.type == ParameterType.PARAMETER_STRING:
label = 'String value is:'
value = pvalue.string_value
elif pvalue.type == ParameterType.PARAMETER_BYTE_ARRAY:
label = 'Byte values are:'
value = pvalue.byte_array_value
elif pvalue.type == ParameterType.PARAMETER_BOOL_ARRAY:
label = 'Boolean values are:'
value = pvalue.bool_array_value
elif pvalue.type == ParameterType.PARAMETER_INTEGER_ARRAY:
label = 'Integer values are:'
value = pvalue.integer_array_value
elif pvalue.type == ParameterType.PARAMETER_DOUBLE_ARRAY:
label = 'Double values are:'
value = pvalue.double_array_value
elif pvalue.type == ParameterType.PARAMETER_STRING_ARRAY:
label = 'String values are:'
value = pvalue.string_array_value
elif pvalue.type == ParameterType.PARAMETER_NOT_SET:
label = 'Parameter not set.'
value = None
else:
return "Unknown parameter type '{pvalue.type}'" \
.format_map(locals())
# output response
if not args.hide_type:
print(label, value) if value is not None else print(label)
else:
print(value)
def main(self, *, args):
with NodeStrategy(args) as node:
node_names = get_node_names(node=node)
with DirectNode(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=node_names
)
rclpy.init()
node = rclpy.create_node(NODE_NAME_PREFIX + '_component_list_requester')
try:
if args.container_node_name is not None:
if args.container_node_name not in [n.full_name for n in container_node_names]:
return "Unable to find container node '" + args.container_node_name + "'"
if not args.containers_only:
components = get_container_components_info(
node=node, remote_container_node_name=args.container_node_name
)
if any(components):
print(*['{} {}'.format(c.uid, c.name) for c in components], sep='\n')
else:
for n in container_node_names:
print(n.full_name)
if not args.containers_only:
components = get_container_components_info(
node=node, remote_container_node_name=n.full_name
)
if any(components):
print(*[
2 * ' ' + '{} {}'.format(c.uid, c.name) for c in components
], sep='\n')
finally:
node.destroy_node()
rclpy.shutdown()
def main(self, *, args):
with NodeStrategy(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=get_node_names(node=node))
if args.container_node_name not in [
n.full_name for n in container_node_names
]:
return "Unable to find container node '" + args.container_node_name + "'"
component_uid, component_name = load_component_into_container(
node=node,
remote_container_node_name=args.container_node_name,
package_name=args.package_name,
plugin_name=args.plugin_name,
node_name=args.node_name,
node_namespace=args.node_namespace,
log_level=args.log_level,
remap_rules=args.remap_rules,
parameters=args.parameters,
extra_arguments=args.extra_arguments)
if not args.quiet:
print("Loaded component {} into '{}' container node as '{}'".
format(component_uid, args.container_node_name,
component_name))
else:
print('{} {}'.format(component_uid, component_name))
def main(self, *, args):
with NodeStrategy(args) as node:
node_names = get_node_names(node=node, include_hidden_nodes=True)
if args.node_name in (n.full_name for n in node_names):
with DirectNode(args) as node:
print(args.node_name)
subscribers = get_subscriber_info(
node=node, remote_node_name=args.node_name)
print(' Subscribers:')
print_names_and_types(subscribers)
publishers = get_publisher_info(
node=node, remote_node_name=args.node_name)
print(' Publishers:')
print_names_and_types(publishers)
services = get_service_info(node=node,
remote_node_name=args.node_name)
print(' Services:')
print_names_and_types(services)
actions_servers = get_action_server_info(
node=node, remote_node_name=args.node_name)
print(' Action Servers:')
print_names_and_types(actions_servers)
actions_clients = get_action_client_info(
node=node, remote_node_name=args.node_name)
print(' Action Clients:')
print_names_and_types(actions_clients)
else:
return "Unable to find node '" + args.node_name + "'"
def main(self, *, args):
with NodeStrategy(args) as node:
node_names = get_node_names(node=node)
with DirectNode(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=node_names)
if args.container_node_name is not None:
if args.container_node_name not in [
n.full_name for n in container_node_names
]:
return "Unable to find container node '" + args.container_node_name + "'"
if not args.containers_only:
components = get_container_components_info(
node=node,
remote_container_node_name=args.container_node_name)
if any(components):
print(*[
'{} {}'.format(c.uid, c.name) for c in components
],
sep='\n')
else:
for n in container_node_names:
print(n.full_name)
if not args.containers_only:
components = get_container_components_info(
node=node, remote_container_node_name=n.full_name)
if any(components):
print(*[
' ' + '{} {}'.format(c.uid, c.name)
for c in components
],
sep='\n')
def main(self, *, args): # noqa: D102
with NodeStrategy(args) as node:
node_names = get_node_names(
node=node, include_hidden_nodes=args.include_hidden_nodes)
node_name = get_absolute_node_name(args.node_name)
if node_name not in [n.full_name for n in node_names]:
return 'Node not found'
with DirectNode(args) as node:
parameter = Parameter()
Parameter.name = args.name
value = ParameterValue()
value.type = ParameterType.PARAMETER_NOT_SET
parameter.value = value
response = call_set_parameters(node=node,
node_name=args.node_name,
parameters=[parameter])
# output response
assert len(response.results) == 1
result = response.results[0]
if result.successful:
msg = 'Deleted parameter successfully'
if result.reason:
msg += ': ' + result.reason
print(msg)
else:
msg = 'Deleting parameter failed'
if result.reason:
msg += ': ' + result.reason
print(msg, file=sys.stderr)
def main(self, *, args): # noqa: D102
with NodeStrategy(args) as node:
node_names = get_node_names(
node=node, include_hidden_nodes=args.include_hidden_nodes)
if args.node_name not in node_names:
return 'Node not found'
with DirectNode(args) as node:
parameter = Parameter()
Parameter.name = args.name
parameter.value = get_parameter_value(string_value=args.value)
response = call_set_parameters(node=node,
node_name=args.node_name,
parameters=[parameter])
# output response
assert len(response.results) == 1
result = response.results[0]
if result.successful:
msg = 'Set parameter successful'
if result.reason:
msg += ': ' + result.reason
print(msg)
else:
msg = 'Setting parameter failed'
if result.reason:
msg += ': ' + result.reason
print(msg, file=sys.stderr)
def container_node_name_completer(prefix, parsed_args, **kwargs):
"""Callable returning a list of container node names."""
with NodeStrategy(parsed_args) as node:
return [
n.full_name for n in find_container_node_names(
node=node, node_names=get_node_names(node=node))
]
def main(self, *, args):
with NodeStrategy(args) as node:
node_names = get_node_names(node=node)
with DirectNode(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=node_names)
rclpy.init()
node = rclpy.create_node(NODE_NAME_PREFIX +
'_component_load_requester')
try:
if args.container_node_name in [
n.full_name for n in container_node_names
]:
return load_component_into_container(
node=node,
remote_container_node_name=args.container_node_name,
package_name=args.package_name,
plugin_name=args.plugin_name,
node_name=args.node_name,
node_namespace=args.node_namespace,
log_level=args.log_level,
remap_rules=args.remap_rules,
parameters=args.parameters,
extra_arguments=args.extra_arguments)
else:
return "Unable to find container node '" + args.container_node_name + "'"
finally:
node.destroy_node()
rclpy.shutdown()
def main(self, *, args): # noqa: D102
with NodeStrategy(args) as node:
node_names = get_node_names(
node=node, include_hidden_nodes=args.include_hidden_nodes)
node_name = get_absolute_node_name(args.node_name)
if node_name:
if node_name not in [n.full_name for n in node_names]:
return 'Node not found'
node_names = [
n for n in node_names if node_name == n.full_name]
regex_filter = getattr(args, 'filter')
if regex_filter is not None:
regex_filter = re.compile(regex_filter[0])
with DirectNode(args) as node:
responses = {}
for node_name in node_names:
responses[node_name] = call_list_parameters(
node=node,
node_name=node_name.full_name,
prefixes=args.param_prefixes)
# print responses
for node_name in sorted(responses.keys()):
response = responses[node_name]
if response is None:
print(
'Wait for service timed out waiting for '
f'parameter services for node {node_name}')
continue
elif response.result() is None:
e = response.exception()
print(
'Exception while calling service of node '
f"'{node_name.full_name}': {e}", file=sys.stderr)
continue
response = response.result().result.names
sorted_names = sorted(response)
if regex_filter is not None:
sorted_names = [name for name in sorted_names if regex_filter.match(name)]
if not args.node_name and sorted_names:
print(f'{node_name.full_name}:')
# get descriptors for the node if needs to print parameter type
name_to_type_map = {}
if args.param_type is True:
resp = call_describe_parameters(
node=node, node_name=node_name.full_name,
parameter_names=sorted_names)
for descriptor in resp.descriptors:
name_to_type_map[descriptor.name] = get_parameter_type_string(
descriptor.type)
for name in sorted_names:
if args.param_type is True:
param_type_str = name_to_type_map[name]
print(f' {name} (type: {param_type_str})')
else:
print(f' {name}')
def main(self, *, args): # noqa: D102
with NodeStrategy(args) as node:
node_names = get_node_names(node=node, include_hidden_nodes=args.include_hidden_nodes)
absolute_node_name = get_absolute_node_name(args.node_name)
node_name = parse_node_name(absolute_node_name)
if absolute_node_name:
if absolute_node_name not in [n.full_name for n in node_names]:
return 'Node not found'
if not os.path.isdir(args.output_dir):
raise RuntimeError(
f"'{args.output_dir}' is not a valid directory.")
with DirectNode(args) as node:
yaml_output = {node_name.full_name: {'ros__parameters': {}}}
# retrieve values
response = call_list_parameters(node=node, node_name=absolute_node_name)
if response is None:
raise RuntimeError(
'Wait for service timed out waiting for '
f'parameter services for node {node_name.full_name}')
elif response.result() is None:
e = response.exception()
raise RuntimeError(
'Exception while calling service of node '
f"'{node_name.full_name}': {e}")
response = response.result().result.names
response = sorted(response)
parameter_values = self.get_parameter_values(node, absolute_node_name, response)
for param_name, pval in zip(response, parameter_values):
self.insert_dict(
yaml_output[node_name.full_name]['ros__parameters'], param_name, pval)
if args.print:
print(
"WARNING: '--print' is deprecated; this utility prints to stdout by default",
file=sys.stderr)
if args.output_dir != '.':
print(
"WARNING: '--output-dir' is deprecated; use redirection to save to a file",
file=sys.stderr)
else:
print(yaml.dump(yaml_output, default_flow_style=False))
return
if absolute_node_name[0] == '/':
file_name = absolute_node_name[1:].replace('/', '__')
else:
file_name = absolute_node_name.replace('/', '__')
print('Saving to: ', os.path.join(args.output_dir, file_name + '.yaml'))
with open(os.path.join(args.output_dir, file_name + '.yaml'), 'w') as yaml_file:
yaml.dump(yaml_output, yaml_file, default_flow_style=False)
def main(self, *, args):
with NodeStrategy(args) as node:
node_names = get_node_names(node=node, include_hidden_nodes=args.all)
if args.count_nodes:
print(len(node_names))
elif node_names:
print(*node_names, sep='\n')
def main(self, *, args): # noqa: D102
with NodeStrategy(args) as node:
node_names = get_node_names(
node=node, include_hidden_nodes=args.include_hidden_nodes)
if args.node_name:
if args.node_name not in [n.full_name for n in node_names]:
return 'Node not found'
node_names = [
n for n in node_names if args.node_name == n.full_name
]
with DirectNode(args) as node:
clients = {}
futures = {}
# create clients
for node_name in node_names:
client = node.create_client(
ListParameters,
'{node_name.full_name}/list_parameters'.format_map(
locals()))
clients[node_name] = client
# wait until all clients have been called
while True:
for node_name in [n for n in node_names if n not in futures]:
# call as soon as ready
client = clients[node_name]
if client.service_is_ready():
request = ListParameters.Request()
for prefix in args.param_prefixes:
request.prefixes.append(prefix)
future = client.call_async(request)
futures[node_name] = future
if len(futures) == len(clients):
break
rclpy.spin_once(node, timeout_sec=1.0)
# wait for all responses
for node_name in node_names:
rclpy.spin_until_future_complete(node, futures[node_name])
# print responses
for node_name in sorted(futures.keys()):
future = futures[node_name]
if future.result() is not None:
if not args.node_name:
print('{node_name.full_name}:'.format_map(locals()))
response = future.result()
for name in sorted(response.result.names):
print(' {name}'.format_map(locals()))
else:
e = future.exception()
print('Exception while calling service of node '
"'{node_name.full_name}': {e}".format_map(locals()),
file=sys.stderr)
def get_node_info(node_name, include_hidden=False):
node_names = get_node_names(node=_node,
include_hidden_nodes=include_hidden)
if node_name in [n.full_name for n in node_names]:
# Only the name of each item is required as output.
subscribers = get_node_subscriptions(node_name)
publishers = get_node_publications(node_name)
services = get_node_services(node_name)
return subscribers, publishers, services
def test_find_container_node_names():
"""Test find_container_node_names() API function."""
with NodeStrategy([]) as node:
node_names = get_node_names(node=node)
with DirectNode([]) as node:
assert len(find_container_node_names(node=node,
node_names=node_names)) == 0
assert len(find_container_node_names(node=node, node_names=[])) == 0
def main(self, *, args): # noqa: D102
with NodeStrategy(args) as node:
node_names = get_node_names(
node=node, include_hidden_nodes=args.include_hidden_nodes)
node_name = get_absolute_node_name(args.node_name)
if node_name not in {n.full_name for n in node_names}:
return 'Node not found'
with DirectNode(args) as node:
load_parameter_file(node=node,
node_name=node_name,
parameter_file=args.parameter_file,
use_wildcard=not args.no_use_wildcard)
def main(self, *, args):
with NodeStrategy(args) as node:
node_names = get_node_names(
node=node, include_hidden_nodes=args.include_hidden)
count = [n.full_name for n in node_names].count(args.node_name)
if count > 1:
print(INFO_NONUNIQUE_WARNING_TEMPLATE.format(
num_nodes=count, node_name=args.node_name),
file=sys.stderr)
if count > 0:
with DirectNode(args) as node:
print(args.node_name)
subscribers = get_subscriber_info(
node=node,
remote_node_name=args.node_name,
include_hidden=args.include_hidden)
print(' Subscribers:')
print_names_and_types(subscribers)
publishers = get_publisher_info(
node=node,
remote_node_name=args.node_name,
include_hidden=args.include_hidden)
print(' Publishers:')
print_names_and_types(publishers)
service_servers = get_service_server_info(
node=node,
remote_node_name=args.node_name,
include_hidden=args.include_hidden)
print(' Service Servers:')
print_names_and_types(service_servers)
service_clients = get_service_client_info(
node=node,
remote_node_name=args.node_name,
include_hidden=args.include_hidden)
print(' Service Clients:')
print_names_and_types(service_clients)
actions_servers = get_action_server_info(
node=node,
remote_node_name=args.node_name,
include_hidden=args.include_hidden)
print(' Action Servers:')
print_names_and_types(actions_servers)
actions_clients = get_action_client_info(
node=node,
remote_node_name=args.node_name,
include_hidden=args.include_hidden)
print(' Action Clients:')
print_names_and_types(actions_clients)
else:
return "Unable to find node '" + args.node_name + "'"
def main(self, *, args):
with NodeStrategy(args) as node:
node_names = get_node_names(node=node,
include_hidden_nodes=args.all)
if args.count_nodes:
print(len(node_names))
elif node_names:
sorted_names = sorted(n.full_name for n in node_names)
if has_duplicates(sorted_names):
print(
'WARNING: Be aware that are nodes in the graph that share an exact name, '
'this can have unintended side effects.',
file=sys.stderr)
print(*sorted_names, sep='\n')
def main(self, *, args): # noqa: D102
with NodeStrategy(args) as node:
node_names = get_node_names(
node=node, include_hidden_nodes=args.include_hidden_nodes)
node_name = get_absolute_node_name(args.node_name)
if node_name not in {n.full_name for n in node_names}:
return 'Node not found'
with DirectNode(args) as node:
transitions = call_get_available_transitions(
node=node, states={args.node_name: None})
transitions = transitions[args.node_name]
if isinstance(transitions, Exception):
return 'Exception while calling service of node ' \
"'{args.node_name}': {transitions}" \
.format_map(locals())
# identify requested transition
for transition in [t.transition for t in transitions]:
if transition.label == args.transition:
break
else:
for transition in [t.transition for t in transitions]:
if str(transition.id) == args.transition:
break
else:
return \
'Unknown transition requested, available ones are:' + \
''.join(
'\n- {t.transition.label} [{t.transition.id}]'
.format_map(locals())
for t in transitions)
results = call_change_states(
node=node, transitions={args.node_name: transition})
result = results[args.node_name]
# output response
if isinstance(result, Exception):
print('Exception while calling service of node '
"'{args.node_name}': {result}".format_map(locals()),
file=sys.stderr)
elif result:
print('Transitioning successful')
else:
print('Transitioning failed', file=sys.stderr)
def main(self, *, args): # noqa: D102
with NodeStrategy(args) as node:
node_names = get_node_names(
node=node, include_hidden_nodes=args.include_hidden_nodes)
node_name = get_absolute_node_name(args.node_name)
if node_name not in {n.full_name for n in node_names}:
return 'Node not found'
with DirectNode(args) as node:
response = call_describe_parameters(
node=node, node_name=args.node_name,
parameter_names=args.parameter_names or None)
# output response
for descriptor in response.descriptors:
self._print_descriptor(descriptor)
def main(self, *, args):
with NodeStrategy(args) as node:
node_names = get_node_names(node=node)
with DirectNode(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=node_names)
rclpy.init()
node = rclpy.create_node(NODE_NAME_PREFIX +
'_component_load_requester')
if args.container_node_name in [
n.full_name for n in container_node_names
]:
return unload_component_from_container(
node=node,
remote_container_node_name=args.container_node_name,
component_uids=args.component_uid)
else:
return "Unable to find container node '" + args.container_node_name + "'"
def ros2node(self, domain_id):
"""
'ros2 node list' fetched from ros2cli and more
"""
print("Exploring ROS_DOMAIN_ID: " + str(domain_id) + ' for nodes')
os.environ['ROS_DOMAIN_ID'] = str(domain_id)
with NodeStrategy("-a") as node:
node_names = get_node_names(node=node, include_hidden_nodes="-a")
nodes = sorted(n.full_name for n in node_names)
output_node = {}
for nodo in nodes:
# # Abstractions from helper2
# output_node = ROS2node()
# output_node.name = nodo
# output_node.domain_id = domain_id
# output_node.namespace = output_node.name[:(output_node.name.rfind("/") + 1)] # fetch the substring until the last "/"
# Abstractions using a list[dict] as defined above (see self.processed_nodes):
#output_node = {"name": nodo, "domain": domain_id}
#output_node["namespace"] = output_node["name"][:(output_node["name"].rfind("/") + 1)] # fetch the substring until the last "/"
with DirectNode(nodo) as node:
if str(nodo) != '/_ros2cli_daemon_0':
output_node[nodo] = {
'domain':
domain_id,
'subscribers':
get_subscriber_info(node=node, remote_node_name=nodo),
'publishers':
get_publisher_info(node=node, remote_node_name=nodo),
'services':
get_service_info(node=node, remote_node_name=nodo),
'actionservers':
get_action_server_info(node=node,
remote_node_name=nodo),
'actionclient':
get_action_client_info(node=node,
remote_node_name=nodo)
}
self.processed_nodes.append(output_node)
def main(self, *, args):
with NodeStrategy(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=get_node_names(node=node))
if args.container_node_name not in [
n.full_name for n in container_node_names
]:
return "Unable to find container node '" + args.container_node_name + "'"
for uid, error, reason in unload_component_from_container(
node=node,
remote_container_node_name=args.container_node_name,
component_uids=args.component_uid):
if error:
return "Failed to unload component {} from '{}' container node\n {}".format(
uid, args.container_node_name, reason.capitalize())
if not args.quiet:
print("Unloaded component {} from '{}' container node".
format(uid, args.container_node_name))
else:
print(uid)
def main(self, *, args):
with NodeStrategy(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=get_node_names(node=node))
if args.container_node_name is not None:
if args.container_node_name not in [
n.full_name for n in container_node_names
]:
return "Unable to find container node '" + args.container_node_name + "'"
if not args.containers_only:
ok, outcome = get_components_in_container(
node=node,
remote_container_node_name=args.container_node_name)
if not ok:
return f'{outcome} when listing components in {args.container_node_name}'
if any(outcome):
print(*[
f'{component.uid} {component.name}'
for component in outcome
],
sep='\n')
else:
results = get_components_in_containers(
node=node,
remote_containers_node_names=[
n.full_name for n in container_node_names
])
for container_node_name, (ok, outcome) in results.items():
print(container_node_name)
if not args.containers_only:
if not ok:
print(f'{outcome} when listing components')
continue
if any(outcome):
print(*[
f' {component.uid} {component.name}'
for component in outcome
],
sep='\n')
def main(self, *, args): # noqa: D102
with NodeStrategy(args) as node:
node_names = get_node_names(
node=node, include_hidden_nodes=args.include_hidden_nodes)
absolute_node_name = get_absolute_node_name(args.node_name)
node_name = parse_node_name(absolute_node_name)
if absolute_node_name:
if absolute_node_name not in [n.full_name for n in node_names]:
return 'Node not found'
if not os.path.isdir(args.output_dir):
raise RuntimeError(
f"'{args.output_dir}' is not a valid directory.")
with DirectNode(args) as node:
# create client
service_name = f'{absolute_node_name}/list_parameters'
client = node.create_client(ListParameters, service_name)
client.wait_for_service()
if not client.service_is_ready():
raise RuntimeError(f"Could not reach service '{service_name}'")
request = ListParameters.Request()
future = client.call_async(request)
# wait for response
rclpy.spin_until_future_complete(node, future)
yaml_output = {node_name.name: {'ros__parameters': {}}}
# retrieve values
if future.result() is not None:
response = future.result()
for param_name in sorted(response.result.names):
pval = self.get_parameter_value(node, absolute_node_name,
param_name)
self.insert_dict(
yaml_output[node_name.name]['ros__parameters'],
param_name, pval)
else:
e = future.exception()
raise RuntimeError('Exception while calling service of node '
f"'{node_name.full_name}': {e}")
if args.print:
print(yaml.dump(yaml_output, default_flow_style=False))
return
if absolute_node_name[0] == '/':
file_name = absolute_node_name[1:].replace('/', '__')
else:
file_name = absolute_node_name.replace('/', '__')
print('Saving to: ',
os.path.join(args.output_dir, file_name + '.yaml'))
with open(os.path.join(args.output_dir, file_name + '.yaml'),
'w') as yaml_file:
yaml.dump(yaml_output, yaml_file, default_flow_style=False)
def get_nodes(include_hidden=False):
""" Returns a list of all the nodes registered in the ROS system """
node_names = get_node_names(node=_node,
include_hidden_nodes=include_hidden)
full_names = [node_name.full_name for node_name in node_names]
return full_names
def main(self, *, args): # noqa: D102
with NodeStrategy(args) as node:
node_names = get_node_names(
node=node, include_hidden_nodes=args.include_hidden_nodes)
node_name = get_absolute_node_name(args.node_name)
if node_name:
if node_name not in [n.full_name for n in node_names]:
return 'Node not found'
node_names = [n for n in node_names if node_name == n.full_name]
regex_filter = getattr(args, 'filter')
if regex_filter is not None:
regex_filter = re.compile(regex_filter[0])
with DirectNode(args) as node:
service_names = get_service_names(
node=node, include_hidden_services=args.include_hidden_nodes)
clients = {}
futures = {}
# create clients for nodes which have the service
for node_name in node_names:
service_name = f'{node_name.full_name}/list_parameters'
if service_name in service_names:
client = node.create_client(ListParameters, service_name)
clients[node_name] = client
# wait until all clients have been called
while True:
for node_name in [
n for n in clients.keys() if n not in futures
]:
# call as soon as ready
client = clients[node_name]
if client.service_is_ready():
request = ListParameters.Request()
for prefix in args.param_prefixes:
request.prefixes.append(prefix)
future = client.call_async(request)
futures[node_name] = future
if len(futures) == len(clients):
break
rclpy.spin_once(node, timeout_sec=1.0)
# wait for all responses
for future in futures.values():
rclpy.spin_until_future_complete(node, future, timeout_sec=1.0)
# print responses
for node_name in sorted(futures.keys()):
future = futures[node_name]
if future.result() is None:
e = future.exception()
print(
'Exception while calling service of node '
f"'{node_name.full_name}': {e}",
file=sys.stderr)
response = future.result()
sorted_names = sorted(response.result.names)
if regex_filter is not None:
sorted_names = [
name for name in sorted_names
if regex_filter.match(name)
]
if not args.node_name and sorted_names:
print(f'{node_name.full_name}:')
# get descriptors for the node if needs to print parameter type
name_to_type_map = {}
if args.param_type is True:
resp = call_describe_parameters(
node=node,
node_name=node_name.full_name,
parameter_names=sorted_names)
for descriptor in resp.descriptors:
name_to_type_map[
descriptor.name] = get_parameter_type_string(
descriptor.type)
for name in sorted_names:
if args.param_type is True:
param_type_str = name_to_type_map[name]
print(f' {name} (type: {param_type_str})')
else:
print(f' {name}')