def _start_local_endpoint(self):
try:
msg_class = get_message_class(self._action_type + 'Action')
if msg_class == None:
e = 'Error: message class ' + self._action_type + 'Action is not available in local machine'
print(e)
rospy.logerr('message class ' + self._action_type +
'Action is not available in local machine')
return
self._msg_class_feedback = get_message_class(
self._action_type +
'ActionFeedback') #self._topic_type.split('Action$
if self._msg_class_feedback == None:
e = 'Error: message class ' + self._action_type + 'ActionFeedback is not available in local machine'
print(e)
rospy.logerr(
'message class ' + self._action_type +
'ActionFeedback is not available in local machine')
return
self._msg_class_status = get_message_class(
'actionlib_msgs/GoalStatusArray'
) #self._topic_type.split('Action$
if self._msg_class_status == None:
e = 'Error: message class actionlib_msgs/GoalStatusArray is not available in local machine'
print(e)
rospy.logerr(
'message class actionlib_msgs/GoalStatusArray is not available in local machine'
)
return
self._msg_class_result = get_message_class(
self._action_type +
'ActionResult') #self._topic_type.split('Action$
if self._msg_class_result == None:
e = 'Error: message class ' + self._action_type + 'ActionResult is not available in local machine'
print(e)
rospy.logerr('message class ' + self._action_type +
'ActionResult is not available in local machine')
return
except:
print('Error with action server ' + self._remote_action)
rospy.logerr('Action server ' + self._remote_action +
' is not available in local machine')
return
self._as = actionlib.SimpleActionServer(self._remote_action,
msg_class,
execute_cb=self.execute_cb,
auto_start=False)
self._as.start()
data = {}
def _start_local_endpoint(self):
msg_class=get_message_class(self._topic_type)
if msg_class==None :
e='Error: message class '+self._message_type+' is not available in local machine'
self.stop()
print(e)
else :
self._local_ros_sub = rospy.Subscriber(self._local_topic,msg_class, self._receive_message)
def _start_local_endpoint(self):
msg_class = get_message_class(self._topic_type)
if msg_class == None:
e = 'Error: message class ' + self._message_type + ' is not available in local machine'
self.stop()
print(e)
else:
self._local_ros_pub = rospy.Publisher(self._local_topic,
msg_class,
queue_size=10)
def _on_result(self, data, status, header):
# d={'header': header,'status': status,'result': data}
self._result = fill_ros_message(
get_message_class(self._action_type + 'Result')(), data) #
self._text = status['text']
if status['status'] == 4:
print('R!Abort')
self.abort = True
elif status['status'] == 3:
print('R!Goal Reached')
self.success = True
elif status['status'] == 1:
print('R!Active')
elif status['status'] == 2:
print('R!Preempted')
self.preempt = True
def _start_local_endpoint(self):
try:
msg_class = get_message_class(self._topic_type)
if msg_class == None:
e = 'Error: messagee class ' + self._topic_type + ' is not available in local machine'
print(e)
rospy.logerr('messagee class ' + self._topic_type +
' is not available in local machine')
return
except:
e = 'Error: local topic type of ' + self._local_topic + ' is not available'
rospy.logerr('messagee class ' + self._topic_type +
' is not available in local machine')
return
self._local_ros_sub = rospy.Subscriber(self._local_topic, msg_class,
self._receive_message)
def _init_ros_publisher(self):
"""_init_ros_publisher"""
if self.debug:
log_level = rospy.DEBUG
else:
log_level = rospy.INFO
_uri = self.ros_endpoint.uri
_node_name = self.ros_endpoint.name
_msg_type = self.ros_endpoint.msg_type
_msg_pkg = _msg_type.split('/')[0]
_msg_cls = _msg_type.split('/')[1]
msg_cls = get_message_class(_msg_type)
self._ros_pub = rospy.Publisher(_uri, msg_cls, queue_size=10)
rospy.loginfo('ROS Publisher <{}> ready!'.format(_uri))
def _start_local_endpoint(self):
try:
msg_class = get_message_class(self._topic_type)
if msg_class == None:
e = 'Error : message class ' + self._topic_type + ' is not available in local machine'
print(e)
rospy.logerr('message class ' + self._topic_type +
' is not available in local machine')
return
except:
e = 'Error : local topic type of ' + self._local_topic + ' is not available'
print(e)
rospy.logerr('message class ' + self._topic_type +
' is not available in local machine')
return
self._local_ros_pub = rospy.Publisher(self._local_topic,
msg_class,
queue_size=10)
def _init_ros_subscriber(self):
"""_init_ros_subscriber"""
if self.debug:
log_level = rospy.DEBUG
else:
log_level = rospy.INFO
_uri = self.ros_endpoint.uri
_node_name = self.ros_endpoint.name
_msg_type = self.ros_endpoint.msg_type
_msg_pkg = _msg_type.split('/')[0]
_msg_cls = _msg_type.split('/')[1]
msg_cls = get_message_class(_msg_type)
# Initialize ROS Subscriber
self._ros_sub = rospy.Subscriber(_uri, msg_cls, self._ros_sub_callback)
rospy.loginfo('ROS Subscriber <{}> ready!'.format(_uri))
def _on_feedback(self, data, status, header):
d = {'header': header, 'status': status, 'feedback': data}
feedback = fill_ros_message(
get_message_class(self._action_type + 'Feedback')(), data)
self._as.publish_feedback(feedback)
def _start_local_endpoint(self):
self._local_ros_pub = rospy.Publisher(self._local_topic,
get_message_class(
self._topic_type),
queue_size=10)
def test_get_message_class(self):
from sensor_msgs.msg import Image
msg_cls = get_message_class('sensor_msgs/Image')
msg = msg_cls()
self.assertIsInstance(msg, Image)
