pycram.ros.no_ros

pycram.ros.no_ros#

Submodules#

Attributes#

`format`
`logger`

Exceptions#

`ResourceNotFound`	Exception raised when a resource is not found.
`ServiceException`	Exception class for service exceptions.

Classes#

Time

Class to abstract the ROS2 Time, to make it more consistent with the ROS1 Time class.

Functions#

`get_ros_package_path`(→ str)	Get the path of a ROS package. Using the os module to avoid importing rospkg.
`sleep`(duration)
`get_node_names`([namespace])	Get the names of all nodes in the ROS system.
`create_ros_pack`([ros_paths])	Creates a RosPack instance to search for resources of ros packages.
`get_parameter`(name)	Get a parameter from the ROS parameter server.
`wait_for_message`(topic_name, msg_type)	Wait for a message on a topic.
`is_master_online`()	Check if the ROS master is online.
`get_time`()	Get the current time from the ROS system.
`logwarn`(msg)
`logerr`(msg)
`loginfo`(msg)
`logdebug`(msg)
`logwarn_once`(msg)
`logerr_once`(msg)
`loginfo_once`(msg)
`logdebug_once`(msg)
`set_logger_level`(level)	Set the logging level for the logger.
`Duration`([duration])
`Rate`(rate)
`get_service_proxy`(→ None)	Get a service proxy for a given topic name and service message type.
`wait_for_service`(→ None)	Wait for a service to become available.
`create_action_client`(→ None)	Create an action client for the given topic name and action message type.
`create_publisher`(→ None)	Create a ROS publisher.
`create_subscriber`(topic, msg_type, callback[, queue_size])	Create a ROS subscriber.

Package Contents#

pycram.ros.no_ros.get_ros_package_path(package_name: str) → str#: Get the path of a ROS package. Using the os module to avoid importing rospkg.

pycram.ros.no_ros.sleep(duration: float)#

pycram.ros.no_ros.get_node_names(namespace=None)#: Get the names of all nodes in the ROS system.

pycram.ros.no_ros.create_ros_pack(ros_paths=None)#: Creates a RosPack instance to search for resources of ros packages.

exception pycram.ros.no_ros.ResourceNotFound#

Bases: Exception

Exception raised when a resource is not found.

pycram.ros.no_ros.get_parameter(name: str)#: Get a parameter from the ROS parameter server.

pycram.ros.no_ros.wait_for_message(topic_name: str, msg_type)#: Wait for a message on a topic.

pycram.ros.no_ros.is_master_online()#: Check if the ROS master is online.

pycram.ros.no_ros.get_time()#: Get the current time from the ROS system.

pycram.ros.no_ros.format = '%(filename)s %(lineno)s %(funcName)s %(message)s'#

pycram.ros.no_ros.logger#

pycram.ros.no_ros.logwarn(msg: str)#

pycram.ros.no_ros.logerr(msg: str)#

pycram.ros.no_ros.loginfo(msg: str)#

pycram.ros.no_ros.logdebug(msg: str)#

pycram.ros.no_ros.logwarn_once(msg: str)#

pycram.ros.no_ros.logerr_once(msg: str)#

pycram.ros.no_ros.loginfo_once(msg: str)#

pycram.ros.no_ros.logdebug_once(msg: str)#

pycram.ros.no_ros.set_logger_level(level: int)#: Set the logging level for the logger. :param level: The logging level to set.

class pycram.ros.no_ros.Time(time=0.0, nsec=0.0)#

Class to abstract the ROS2 Time, to make it more consistent with the ROS1 Time class.

time = 0.0#

nsec = 0.0#

classmethod now()#

to_sec()#

pycram.ros.no_ros.Duration(duration=0.0)#

pycram.ros.no_ros.Rate(rate)#

exception pycram.ros.no_ros.ServiceException(message: str)#

Bases: Exception

Exception class for service exceptions.

message#

pycram.ros.no_ros.get_service_proxy(topic_name: str, service_message) → None#

Get a service proxy for a given topic name and service message type.

Parameters:

topic_name – The name of the service.
service_message – The type of the service message.

Returns:

A service proxy for the specified topic and message type.

pycram.ros.no_ros.wait_for_service(topic_name: str) → None#

Wait for a service to become available.

Parameters:: topic_name – The name of the service.

pycram.ros.no_ros.create_action_client(topic_name: str, action_message) → None#

Create an action client for the given topic name and action message type.

Args:: topic_name (str): The name of the action topic. action_message: The action message type.
Returns:: None

pycram.ros.no_ros.create_publisher(topic, msg_type, queue_size=10, latch: bool = False) → None#

Create a ROS publisher.

Parameters:

topic – The name of the topic to publish to.
msg_type – The type of message to publish.
queue_size – The size of the message queue.
latch – Whether to latch the last message sent.

Returns:

A ROS publisher object.

pycram.ros.no_ros.create_subscriber(topic, msg_type, callback, queue_size=10)#

Create a ROS subscriber.

Parameters:

topic – The name of the topic to subscribe to.
msg_type – The type of message to subscribe to.
callback – The callback function to call when a message is received.
queue_size – The size of the message queue.

Returns:

A ROS subscriber object.