def main(argv=sys.argv[1:]):
# Get parameters from launch file
parser = argparse.ArgumentParser(
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("-name", "--robot_name")
parser.add_argument("-p", "--server_port")
parser.add_argument("-key", "--encryption_key")
parser.add_argument("-usename", "--use_name")
parser.add_argument("-encrypt", "--use_encryption")
args = parser.parse_args(remove_ros_args(args=argv))
# Initialize rclpy and create node object
rclpy.init(args=argv)
server_node = ServerNode(
args.robot_name,
args.server_port,
args.encryption_key,
args.use_name,
args.use_encryption,
)
# Spin the node
rclpy.spin(server_node)
try:
server_node.destroy_node()
rclpy.shutdown()
except Exception as e:
self.error_msg("Error:", e, "|rclpy shutdown failed")
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--reliable',
dest='reliable',
action='store_true',
help='set qos profile to reliable')
parser.set_defaults(reliable=False)
parser.add_argument('-n',
'--number_of_cycles',
type=int,
default=20,
help='max number of spin_once iterations')
args = parser.parse_args(remove_ros_args(args=argv))
rclpy.init(args=argv)
if args.reliable:
custom_qos_profile = QoSProfile(depth=10,
reliability=QoSReliabilityPolicy.
RMW_QOS_POLICY_RELIABILITY_RELIABLE)
else:
custom_qos_profile = qos_profile_sensor_data
node = ListenerQos(custom_qos_profile)
cycle_count = 0
while rclpy.ok() and cycle_count < args.number_of_cycles:
rclpy.spin_once(node)
cycle_count += 1
node.destroy_node()
rclpy.shutdown()
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
formatter_class=argparse.RawTextHelpFormatter,
description='Apply a Python operation to a topic.\n\n'
'A node is created that subscribes to a topic,\n'
'applies a Python expression to the topic (or topic\n'
'field) message \"m\", and publishes the result\n'
'through another topic.\n\n'
'Usage:\n\tros2 run topic_tools transform '
'<input topic> <output topic> <output type> '
'[<expression on m>] [--import numpy tf] [--field <topic_field>]\n\n'
'Example:\n\tros2 run topic_tools transform /imu --field orientation '
'/norm std_msgs/Float64'
'\"std_msgs.msg.Float64(data=sqrt(sum(array([m.x, m.y, m.z, m.w]))))\"'
' --import std_msgs')
parser.add_argument('input', help='Input topic or topic field.')
parser.add_argument('output_topic', help='Output topic.')
parser.add_argument('output_type', help='Output topic type.')
parser.add_argument(
'expression',
default='m',
help='Python expression to apply on the input message \"m\".')
parser.add_argument('-i',
'--import',
dest='modules',
nargs='+',
default=['numpy'],
help='List of Python modules to import.')
parser.add_argument('--wait-for-start',
action='store_true',
help='Wait for input messages.')
parser.add_argument(
'--qos-profile',
choices=rclpy.qos.QoSPresetProfiles.short_keys(),
help=
'Quality of service preset profile to subscribe with (default: sensor_data)'
)
default_profile = rclpy.qos.QoSPresetProfiles.get_from_short_key(
'sensor_data')
parser.add_argument('--qos-depth',
metavar='N',
type=int,
help='Queue size setting to subscribe with '
'(overrides depth value of --qos-profile option)')
parser.add_argument(
'--qos-history',
choices=rclpy.qos.QoSHistoryPolicy.short_keys(),
help='History of samples setting to subscribe with '
'(overrides history value of --qos-profile option, default: {})'.
format(default_profile.history.short_key))
parser.add_argument(
'--qos-reliability',
choices=rclpy.qos.QoSReliabilityPolicy.short_keys(),
help='Quality of service reliability setting to subscribe with '
'(overrides reliability value of --qos-profile option, default: '
'Automatically match existing publishers )')
parser.add_argument(
'--qos-durability',
choices=rclpy.qos.QoSDurabilityPolicy.short_keys(),
help='Quality of service durability setting to subscribe with '
'(overrides durability value of --qos-profile option, default: '
'Automatically match existing publishers )')
parser.add_argument(
'--field',
type=str,
default=None,
help='Transform a selected field of a message. '
"Use '.' to select sub-fields. "
'For example, to transform the orientation x field of a sensor_msgs/msg/Imu message: '
"'ros2 run topic_tools transform /imu --field orientatin.x'",
)
args = parser.parse_args(remove_ros_args(args=argv))
rclpy.init(args=argv)
node = Transform(args)
try:
rclpy.spin(node)
except KeyboardInterrupt:
print('transform stopped cleanly')
except BaseException:
print('exception in transform:', file=sys.stderr)
raise
finally:
node.destroy_node()
rclpy.shutdown()
def parse_arguments(args=None):
parser = argparse.ArgumentParser()
parser.add_argument('message_type',
type=get_message,
help='Message type for the repeater to publish.')
return parser.parse_args(args=remove_ros_args(args))
