def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to listen to (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
parser.add_argument(
'--window',
'-w',
dest='window_size',
type=unsigned_int,
default=DEFAULT_WINDOW_SIZE,
help='window size, in # of messages, for calculating rate '
'(default: %d)' % DEFAULT_WINDOW_SIZE,
metavar='WINDOW')
parser.add_argument(
'--filter',
dest='filter_expr',
default=None,
help=
'only measure messages matching the specified Python expression',
metavar='EXPR')
parser.add_argument(
'--wall-time',
dest='use_wtime',
default=False,
action='store_true',
help='calculates rate using wall time which can be helpful'
' when clock is not published during simulation')
def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to publish to (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
arg = parser.add_argument(
'message_type',
help="Type of the ROS message (e.g. 'std_msgs/String')")
arg.completer = TopicTypeCompleter(
topic_name_key='topic_name')
parser.add_argument(
'values', nargs='?', default='{}',
help='Values to fill the message with in YAML format ' +
'(e.g. "data: Hello World"), ' +
'otherwise the message will be published with default values')
parser.add_argument(
'-r', '--rate', metavar='N', type=float, default=1.0,
help='Publishing rate in Hz (default: 1)')
parser.add_argument(
'-p', '--print', metavar='N', type=int, default=1,
help='Only print every N-th published message (default: 1)')
parser.add_argument(
'-1', '--once', action='store_true',
help='Publish one message and exit')
parser.add_argument(
'-n', '--node-name', type=str,
help='Name of the created publishing node')
def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to listen to (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
parser.add_argument(
'message_type',
nargs='?',
help="Type of the ROS message (e.g. 'std_msgs/String')")
parser.add_argument(
'--csv',
action='store_true',
help='Output all recursive fields separated by commas (e.g. for '
'plotting)')
parser.add_argument(
'--full-length',
'-f',
action='store_true',
help='Output all elements for arrays, bytes, and string with a '
"length > '--truncate-length', by default they are truncated "
"after '--truncate-length' elements with '...''")
parser.add_argument(
'--truncate-length',
'-l',
type=unsigned_int,
default=DEFAULT_TRUNCATE_LENGTH,
help='The length to truncate arrays, bytes, and string to '
'(default: %d)' % DEFAULT_TRUNCATE_LENGTH)
def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'topic',
help='Topic name to monitor for bandwidth utilization')
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
parser.add_argument(
'--window', '-w', type=positive_int, default=DEFAULT_WINDOW_SIZE,
help='window size, in # of messages, for calculating rate '
'(default: %d)' % DEFAULT_WINDOW_SIZE, metavar='WINDOW')
def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'topic',
help='Topic name to be calcurated the delay')
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
parser.add_argument(
'--window', '-w', type=unsigned_int, default=DEFAULT_WINDOW_SIZE,
help='window size, in # of messages, for calculating rate, '
'string to (default: %d)' % DEFAULT_WINDOW_SIZE)
def add_arguments(self, parser, cli_name):
add_strategy_node_arguments(parser)
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to listen to (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
parser.add_argument(
'message_type',
nargs='?',
help="Type of the ROS message (e.g. 'std_msgs/msg/String')")
add_qos_arguments_to_argument_parser(parser,
is_publisher=False,
default_preset='sensor_data')
parser.add_argument(
'--csv',
action='store_true',
help='Output all recursive fields separated by commas (e.g. for '
'plotting)')
parser.add_argument(
'--field',
type=str,
default=None,
help='Echo a selected field of a message. '
"Use '.' to select sub-fields. "
'For example, to echo the position field of a nav_msgs/msg/Odometry message: '
"'ros2 topic echo /odom --field pose.pose.position'",
)
parser.add_argument(
'--full-length',
'-f',
action='store_true',
help='Output all elements for arrays, bytes, and string with a '
"length > '--truncate-length', by default they are truncated "
"after '--truncate-length' elements with '...''")
parser.add_argument(
'--truncate-length',
'-l',
type=unsigned_int,
default=DEFAULT_TRUNCATE_LENGTH,
help='The length to truncate arrays, bytes, and string to '
'(default: %d)' % DEFAULT_TRUNCATE_LENGTH)
parser.add_argument('--no-arr',
action='store_true',
help="Don't print array fields of messages")
parser.add_argument('--no-str',
action='store_true',
help="Don't print string fields of messages")
parser.add_argument('--lost-messages',
action='store_true',
help='Report when a message is lost')
parser.add_argument('--raw',
action='store_true',
help='Echo the raw binary representation')
def add_arguments(self, parser, cli_name):
add_strategy_node_arguments(parser)
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to listen to (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
parser.add_argument(
'message_type',
nargs='?',
help="Type of the ROS message (e.g. 'std_msgs/msg/String')")
add_qos_arguments_to_argument_parser(parser,
is_publisher=False,
default_preset='sensor_data')
parser.add_argument(
'--csv',
action='store_true',
help='Output all recursive fields separated by commas (e.g. for '
'plotting)')
parser.add_argument(
'--full-length',
'-f',
action='store_true',
help='Output all elements for arrays, bytes, and string with a '
"length > '--truncate-length', by default they are truncated "
"after '--truncate-length' elements with '...''")
parser.add_argument(
'--truncate-length',
'-l',
type=unsigned_int,
default=DEFAULT_TRUNCATE_LENGTH,
help='The length to truncate arrays, bytes, and string to '
'(default: %d)' % DEFAULT_TRUNCATE_LENGTH)
parser.add_argument('--no-arr',
action='store_true',
help="Don't print array fields of messages")
parser.add_argument('--no-str',
action='store_true',
help="Don't print string fields of messages")
parser.add_argument('--lost-messages',
action='store_true',
help='Report when a message is lost')
parser.add_argument(
'--once',
action='store_true',
help='Print the first message received and then exit')
parser.add_argument(
'--timeout',
metavar='N',
type=unsigned_int,
default=None,
help='The time after which the application will exit')
def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to get info (e.g. '/chatter')")
parser.add_argument(
'--verbose',
'-v',
action='store_true',
help='Prints detailed information like the node name, node namespace, topic type, '
'GUID and QoS Profile of the publishers and subscribers to this topic')
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to publish to (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
arg = parser.add_argument(
'message_type',
help="Type of the ROS message (e.g. 'std_msgs/String')")
arg.completer = TopicTypeCompleter(topic_name_key='topic_name')
parser.add_argument(
'values',
nargs='?',
default='{}',
help='Values to fill the message with in YAML format '
'(e.g. "data: Hello World"), '
'otherwise the message will be published with default values')
parser.add_argument('-r',
'--rate',
metavar='N',
type=float,
default=1.0,
help='Publishing rate in Hz (default: 1)')
parser.add_argument(
'-p',
'--print',
metavar='N',
type=int,
default=1,
help='Only print every N-th published message (default: 1)')
parser.add_argument('-1',
'--once',
action='store_true',
help='Publish one message and exit')
parser.add_argument('-n',
'--node-name',
help='Name of the created publishing node')
parser.add_argument('--qos-profile',
choices=rclpy.qos.QoSPresetProfiles.short_keys(),
default='system_default',
help='Quality of service profile to publish with')
parser.add_argument(
'--qos-reliability',
choices=rclpy.qos.QoSReliabilityPolicy.short_keys(),
help='Quality of service reliability setting to publish with. '
'(Will override reliability value of --qos-profile option)')
parser.add_argument(
'--qos-durability',
choices=rclpy.qos.QoSDurabilityPolicy.short_keys(),
help='Quality of service durability setting to publish with. '
'(Will override durability value of --qos-profile option)')
def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to publish to (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
arg = parser.add_argument(
'message_type',
help="Type of the ROS message (e.g. 'std_msgs/String')")
arg.completer = TopicTypeCompleter(topic_name_key='topic_name')
arg = parser.add_argument(
'values',
nargs='?',
default='{}',
help='Values to fill the message with in YAML format '
"(e.g. 'data: Hello World'), "
'otherwise the message will be published with default values')
arg.completer = TopicMessagePrototypeCompleter(
topic_type_key='message_type')
parser.add_argument('-r',
'--rate',
metavar='N',
type=positive_float,
default=1.0,
help='Publishing rate in Hz (default: 1)')
parser.add_argument(
'-p',
'--print',
metavar='N',
type=int,
default=1,
help='Only print every N-th published message (default: 1)')
group = parser.add_mutually_exclusive_group()
group.add_argument('-1',
'--once',
action='store_true',
help='Publish one message and exit')
group.add_argument('-t',
'--times',
type=nonnegative_int,
default=0,
help='Publish this number of times and then exit')
parser.add_argument('-n',
'--node-name',
help='Name of the created publishing node')
add_qos_arguments_to_argument_parser(parser,
is_publisher=True,
default_preset='system_default')
def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to get type (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
def add_arguments(self, parser, cli_name):
add_strategy_node_arguments(parser)
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to listen to (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
parser.add_argument(
'message_type', nargs='?',
help="Type of the ROS message (e.g. 'std_msgs/msg/String')")
parser.add_argument(
'--qos-profile',
choices=rclpy.qos.QoSPresetProfiles.short_keys(),
help='Quality of service preset profile to subscribe with (default: {})'
.format(default_profile_str))
default_profile = rclpy.qos.QoSPresetProfiles.get_from_short_key(default_profile_str)
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(
'--csv', action='store_true',
help='Output all recursive fields separated by commas (e.g. for '
'plotting)')
parser.add_argument(
'--field', type=str, default=None,
help='Echo a selected field of a message. '
"Use '.' to select sub-fields. "
'For example, to echo the position field of a nav_msgs/msg/Odometry message: '
"'ros2 topic echo /odom --field pose.pose.position'",
)
parser.add_argument(
'--full-length', '-f', action='store_true',
help='Output all elements for arrays, bytes, and string with a '
"length > '--truncate-length', by default they are truncated "
"after '--truncate-length' elements with '...''")
parser.add_argument(
'--truncate-length', '-l', type=unsigned_int, default=DEFAULT_TRUNCATE_LENGTH,
help='The length to truncate arrays, bytes, and string to '
'(default: %d)' % DEFAULT_TRUNCATE_LENGTH)
parser.add_argument(
'--no-arr', action='store_true', help="Don't print array fields of messages")
parser.add_argument(
'--no-str', action='store_true', help="Don't print string fields of messages")
parser.add_argument(
'--lost-messages', action='store_true', help='DEPRECATED: Does nothing')
parser.add_argument(
'--no-lost-messages', action='store_true', help="Don't report when a message is lost")
parser.add_argument(
'--raw', action='store_true', help='Echo the raw binary representation')
def add_arguments(self, parser, cli_name):
add_strategy_node_arguments(parser)
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to listen to (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
parser.add_argument(
'message_type',
nargs='?',
help="Type of the ROS message (e.g. 'std_msgs/msg/String')")
parser.add_argument(
'--qos-profile',
choices=rclpy.qos.QoSPresetProfiles.short_keys(),
help=
'Quality of service preset profile to subscribe with (default: {})'
.format(default_profile_str))
default_profile = rclpy.qos.QoSPresetProfiles.get_from_short_key(
default_profile_str)
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(
'--csv',
action='store_true',
help=
('Output all recursive fields separated by commas (e.g. for '
'plotting). '
'If --include-message-info is also passed, the following fields are prepended: '
'source_timestamp, received_timestamp, publication_sequence_number,'
' reception_sequence_number.'))
parser.add_argument(
'--field',
type=str,
default=None,
help='Echo a selected field of a message. '
"Use '.' to select sub-fields. "
'For example, to echo the position field of a nav_msgs/msg/Odometry message: '
"'ros2 topic echo /odom --field pose.pose.position'",
)
parser.add_argument(
'--full-length',
'-f',
action='store_true',
help='Output all elements for arrays, bytes, and string with a '
"length > '--truncate-length', by default they are truncated "
"after '--truncate-length' elements with '...''")
parser.add_argument(
'--truncate-length',
'-l',
type=unsigned_int,
default=DEFAULT_TRUNCATE_LENGTH,
help='The length to truncate arrays, bytes, and string to '
'(default: %d)' % DEFAULT_TRUNCATE_LENGTH)
parser.add_argument('--no-arr',
action='store_true',
help="Don't print array fields of messages")
parser.add_argument('--no-str',
action='store_true',
help="Don't print string fields of messages")
parser.add_argument(
'--flow-style',
action='store_true',
help=
'Print collections in the block style (not available with csv format)'
)
parser.add_argument('--lost-messages',
action='store_true',
help='DEPRECATED: Does nothing')
parser.add_argument('--no-lost-messages',
action='store_true',
help="Don't report when a message is lost")
parser.add_argument('--raw',
action='store_true',
help='Echo the raw binary representation')
parser.add_argument('--filter',
dest='filter_expr',
help='Python expression to filter messages that '
'are printed. Expression can use Python builtins '
'as well as m (the message).')
parser.add_argument(
'--once',
action='store_true',
help='Print the first message received and then exit.')
parser.add_argument('--include-message-info',
'-i',
action='store_true',
help='Shows the associated message info.')
def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to publish to (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
arg = parser.add_argument(
'message_type',
help="Type of the ROS message (e.g. 'std_msgs/String')")
arg.completer = TopicTypeCompleter(topic_name_key='topic_name')
arg = parser.add_argument(
'values',
nargs='?',
default='{}',
help='Values to fill the message with in YAML format '
"(e.g. 'data: Hello World'), "
'otherwise the message will be published with default values')
arg.completer = TopicMessagePrototypeCompleter(
topic_type_key='message_type')
parser.add_argument('-r',
'--rate',
metavar='N',
type=positive_float,
default=1.0,
help='Publishing rate in Hz (default: 1)')
parser.add_argument(
'-p',
'--print',
metavar='N',
type=int,
default=1,
help='Only print every N-th published message (default: 1)')
group = parser.add_mutually_exclusive_group()
group.add_argument('-1',
'--once',
action='store_true',
help='Publish one message and exit')
group.add_argument('-t',
'--times',
type=nonnegative_int,
default=0,
help='Publish this number of times and then exit')
parser.add_argument(
'-w',
'--wait-matching-subscriptions',
type=nonnegative_int,
default=None,
help=
('Wait until finding the specified number of matching subscriptions. '
'Defaults to 1 when using "-1"/"--once"/"--times", otherwise defaults to 0.'
))
parser.add_argument(
'--keep-alive',
metavar='N',
type=positive_float,
default=0.1,
help='Keep publishing node alive for N seconds after the last msg '
'(default: 0.1)')
parser.add_argument('-n',
'--node-name',
help='Name of the created publishing node')
parser.add_argument(
'--qos-profile',
choices=rclpy.qos.QoSPresetProfiles.short_keys(),
help='Quality of service preset profile to publish)')
default_profile = get_pub_qos_profile()
parser.add_argument('--qos-depth',
metavar='N',
type=int,
default=-1,
help='Queue size setting to publish 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 publish 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 publish with '
'(overrides reliability value of --qos-profile option, default: {})'
.format(default_profile.reliability.short_key))
parser.add_argument(
'--qos-durability',
choices=rclpy.qos.QoSDurabilityPolicy.short_keys(),
help='Quality of service durability setting to publish with '
'(overrides durability value of --qos-profile option, default: {})'
.format(default_profile.durability.short_key))