def find_container_node_names(*, node, node_names):
"""
Identify container nodes from a list of node names.
:param node: a node-like instance
:param node_names: list of `ros2node.api.NodeName` instances, as returned
by `ros2node.api.get_node_names()`
:return: list of `ros2node.api.NodeName` instances for nodes that are
component containers
"""
container_node_names = []
for n in node_names:
try:
services = get_service_server_info(node=node,
remote_node_name=n.full_name,
include_hidden=True)
except rclpy.node.NodeNameNonExistentError:
continue
if not any(
s.name.endswith('_container/load_node')
and 'composition_interfaces/srv/LoadNode' in s.types
for s in services):
continue
if not any(
s.name.endswith('_container/unload_node')
and 'composition_interfaces/srv/UnloadNode' in s.types
for s in services):
continue
if not any(
s.name.endswith('_container/list_nodes')
and 'composition_interfaces/srv/ListNodes' in s.types
for s in services):
continue
container_node_names.append(n)
return container_node_names
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.include_hidden)
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,
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 get_node_service_types(node_name):
""" Returns a list of service types that are being hosted by the specified node """
services = get_service_server_info(node=_node, remote_node_name=node_name)
return [service.types[0] for service in services]
