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 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 __init__(self):
super().__init__('listener')
qos_profile = qos_profile_from_short_keys('system_default',
durability='transient_local',
reliability='reliable')
self.sub = self.create_subscription(String, 'chatter', self.callback,
qos_profile)
def main(args):
qos_profile = qos_profile_from_short_keys(args.qos_profile,
reliability=args.qos_reliability,
durability=args.qos_durability)
with DirectNode(args) as node:
return publisher(node.node, args.message_type, args.topic_name,
args.values, 1. / args.rate, args.print, args.once,
qos_profile)
def choose_qos(self, node, args):
if (args.qos_profile is not None or
args.qos_reliability is not None or
args.qos_durability is not None or
args.qos_depth is not None or
args.qos_history is not None):
if args.qos_profile is None:
args.qos_profile = default_profile_str
return qos_profile_from_short_keys(args.qos_profile,
reliability=args.qos_reliability,
durability=args.qos_durability,
depth=args.qos_depth,
history=args.qos_history)
qos_profile = QoSPresetProfiles.get_from_short_key(default_profile_str)
reliability_reliable_endpoints_count = 0
durability_transient_local_endpoints_count = 0
pubs_info = node.get_publishers_info_by_topic(args.topic_name)
publishers_count = len(pubs_info)
if publishers_count == 0:
return qos_profile
for info in pubs_info:
if (info.qos_profile.reliability == QoSReliabilityPolicy.RELIABLE):
reliability_reliable_endpoints_count += 1
if (info.qos_profile.durability == QoSDurabilityPolicy.TRANSIENT_LOCAL):
durability_transient_local_endpoints_count += 1
# If all endpoints are reliable, ask for reliable
if reliability_reliable_endpoints_count == publishers_count:
qos_profile.reliability = QoSReliabilityPolicy.RELIABLE
else:
if reliability_reliable_endpoints_count > 0:
print(
'Some, but not all, publishers are offering '
'QoSReliabilityPolicy.RELIABLE. Falling back to '
'QoSReliabilityPolicy.BEST_EFFORT as it will connect '
'to all publishers'
)
qos_profile.reliability = QoSReliabilityPolicy.BEST_EFFORT
# If all endpoints are transient_local, ask for transient_local
if durability_transient_local_endpoints_count == publishers_count:
qos_profile.durability = QoSDurabilityPolicy.TRANSIENT_LOCAL
else:
if durability_transient_local_endpoints_count > 0:
print(
'Some, but not all, publishers are offering '
'QoSDurabilityPolicy.TRANSIENT_LOCAL. Falling back to '
'QoSDurabilityPolicy.VOLATILE as it will connect '
'to all publishers'
)
qos_profile.durability = QoSDurabilityPolicy.VOLATILE
return qos_profile
def test_profile_conversion():
profile = qos_profile_from_short_keys('sensor_data',
reliability='reliable',
durability='transient_local',
depth=10,
history='keep_last')
assert profile.durability == rclpy.qos.QoSDurabilityPolicy.TRANSIENT_LOCAL
assert profile.reliability == rclpy.qos.QoSReliabilityPolicy.RELIABLE
assert profile.depth == 10
assert profile.history == rclpy.qos.QoSHistoryPolicy.KEEP_LAST
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 DirectNode(args) as node:
subscriber(
node.node, args.topic_name, args.message_type, callback, qos_profile)
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 main(args):
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)
times = args.times
if args.once:
times = 1
with DirectNode(args, node_name=args.node_name) as node:
return publisher(
node.node,
args.message_type,
args.topic_name,
args.values,
1. / args.rate,
args.print,
times,
qos_profile,
args.keep_alive)
def execute(self):
"""Publish a message to a topic."""
msg = ('Publishing message to topic {} '
'for a duration of {} with a rate of {}')
self.node.get_logger().info(
msg.format(self.topic, self.duration, self.rate))
once = self.duration == 1 and self.rate == 1
qos_profile = \
qos_profile_from_short_keys(self.qos_profile_str,
reliability=self.qos_reliability_str,
durability=self.qos_durability_str)
msg_module = get_message(self.msg_type)
pub = self.node.create_publisher(msg_module, self.topic, qos_profile)
msg = msg_module()
if self.use_substitution:
# deep copy so we don't lose the variables for future executions
parameters_copy = copy.deepcopy(self.parameters)
substitude_values(parameters_copy, self.parameter_values)
set_message_fields(msg, parameters_copy)
else:
set_message_fields(msg, self.parameters)
if not once:
clock = self.node.get_clock()
sched_time = clock.now()
end_time = sched_time + Duration(nanoseconds=self.duration * 10**9)
while clock.now() < end_time:
while clock.now() < sched_time:
time.sleep((sched_time - clock.now()).nanoseconds / 10**9)
if clock.now() > end_time:
break
pub.publish(msg)
sched_time = sched_time + Duration(
nanoseconds=(1. / self.rate) * 10**9)
else:
pub.publish(msg)
self.node.destroy_publisher(pub)
return True
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)
def test_profile_conversion():
profile = qos_profile_from_short_keys(
'sensor_data', reliability='reliable', durability='transient_local')
assert profile.durability == rclpy.qos.QoSDurabilityPolicy.TRANSIENT_LOCAL
assert profile.reliability == rclpy.qos.QoSReliabilityPolicy.RELIABLE
