def get_topic_types(tlist):
"""Query the master about topics and their types."""
master = Master('/' + PROJ_NAME)
ttdict = dict(master.getTopicTypes())
want = set(tlist)
have = set(ttdict.keys())
missing = want - have
if missing:
raise GeneratorException("Unknown topic(s) referenced: %s" %
', '.join(missing))
return {to: ttdict[to] for to in (set(ttdict.keys()) & set(tlist))}
def get_topics_and_types(topics_glob):
""" Returns a list of all the active topics in the ROS system """
try:
# Function getTopicTypes also returns inactive topics and does not
# return topics with unknown message types, so it must be compared
# to results from getSystemState.
master = Master('/rosbridge')
topic_types = master.getTopicTypes()
publishers, subscribers, services = master.getSystemState()
topics = set([x for x, _ in publishers] + [x for x, _ in subscribers])
# Filter the list of topics by whether they are public.
topics = set(filter_globs(topics_glob, topics))
topic_types = [x for x in topic_types if x[0] in topics]
# Add topics with unknown type messages.
unknown_type = topics.difference([x for x, _ in topic_types])
return zip(*topic_types + [[x, ''] for x in unknown_type])
except:
return []
