def main(self, *, args):
with NodeStrategy(args) as node:
node_names = get_node_names(node=node, include_hidden_nodes=True)
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)
print(' Subscribers:')
print_names_and_types(subscribers)
publishers = get_publisher_info(
node=node, remote_node_name=args.node_name)
print(' Publishers:')
print_names_and_types(publishers)
services = get_service_info(node=node,
remote_node_name=args.node_name)
print(' Services:')
print_names_and_types(services)
actions_servers = get_action_server_info(
node=node, remote_node_name=args.node_name)
print(' Action Servers:')
print_names_and_types(actions_servers)
actions_clients = get_action_client_info(
node=node, remote_node_name=args.node_name)
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)
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 ros2node(self, domain_id):
"""
'ros2 node list' fetched from ros2cli and more
"""
print("Exploring ROS_DOMAIN_ID: " + str(domain_id) + ' for nodes')
os.environ['ROS_DOMAIN_ID'] = str(domain_id)
with NodeStrategy("-a") as node:
node_names = get_node_names(node=node, include_hidden_nodes="-a")
nodes = sorted(n.full_name for n in node_names)
output_node = {}
for nodo in nodes:
# # Abstractions from helper2
# output_node = ROS2node()
# output_node.name = nodo
# output_node.domain_id = domain_id
# output_node.namespace = output_node.name[:(output_node.name.rfind("/") + 1)] # fetch the substring until the last "/"
# Abstractions using a list[dict] as defined above (see self.processed_nodes):
#output_node = {"name": nodo, "domain": domain_id}
#output_node["namespace"] = output_node["name"][:(output_node["name"].rfind("/") + 1)] # fetch the substring until the last "/"
with DirectNode(nodo) as node:
if str(nodo) != '/_ros2cli_daemon_0':
output_node[nodo] = {
'domain':
domain_id,
'subscribers':
get_subscriber_info(node=node, remote_node_name=nodo),
'publishers':
get_publisher_info(node=node, remote_node_name=nodo),
'services':
get_service_info(node=node, remote_node_name=nodo),
'actionservers':
get_action_server_info(node=node,
remote_node_name=nodo),
'actionclient':
get_action_client_info(node=node,
remote_node_name=nodo)
}
self.processed_nodes.append(output_node)
def get_node_subscriptions(node_name):
""" Returns a list of topic names that are being subscribed by the specified node """
subscribers = get_subscriber_info(node=_node, remote_node_name=node_name)
return [subscriber.name for subscriber in subscribers]