Generic ROS Msg Plugin

Source code on GitHub.

This plugin provides the ability to interface with ROS topics of any type using introspection.

ATTENTION

ROS introspection used to be limited to topics. Service introspection was started in Jazzy and finished in Kilted. Action introspection was started in Kilted and is not completed yet. The features of this plugin vary, depending on the ROS version it is compiled with.

Configuration

This plugin has no specific configuration options.

Features

Facts

; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
  (slot topic (type STRING)) ; example: "/cx_string_in"
  (slot type (type STRING))  ; example: "std_msgs/msg/String"
)

; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
  (slot topic (type STRING)) ; example: "/cx_string_out"
  (slot type (type STRING))  ; example: "std_msgs/msg/String"
)

; Asserted by the callback of a subscription whenever a message arrives.
; Process the message and then call ros-msgs-destroy-message before retracting!
(deftemplate ros-msgs-message
  (slot topic (type STRING))             ; example: "/cx_string_in"
  (slot msg-ptr (type EXTERNAL-ADDRESS)) ; example: <Pointer-C-0x7f1550001d20>
)

Supported since Jazzy:

; Asserted by the ros-msgs-create-client function.
; Retracted by the respective ros-msgs-destroy-client function.
(deftemplate-ros-msgs-client
  (slot topic (type STRING)) ; example: "/ros_cx_client"
  (slot type (type STRING))  ; example: "std_srvs/srv/SetBool"
)

; Asserted by the callback of ros-msgs-async-send-request.
; Process the response like a normal message and then call
; ros-msgs-destroy-message before retracting!
(deftemplate ros-msgs-response
  (slot service (type STRING))            ; example: "/ros_cx_client"
  (slot request-id (type INTEGER))        ; example: 1
  (slot msg-ptr (type EXTERNAL-ADDRESS))  ; example: <Pointer-C-0x7f1550001d20>
)

Supported since Kilted:

```clips ; Asserted by the ros-msgs-create-service function. ; Retracted by the respective ros-msgs-destroy-service function. (deftemplate ros-msgs-service (slot service (type STRING)) ; example: “/ros_cx_service” (slot type (type STRING)) ; example: “std_srvs/srv/SetBool” )

; Asserted by the ros-msgs-create-action-client function. ; Retracted by the respective ros-msgs-destroy-action-client function. (deftemplate ros-msgs-action-client (slot server (type STRING)) (slot type (type STRING))) )

; Asserted by the goal response callback of ros-msgs-async-send-goal function. ; Process the response by using the client goal handle functions: ; - ros-msgs-client-goal-handle-get-goal-id ; - ros-msgs-client-goal-handle-get-goal-stamp ; - ros-msgs-client-goal-handle-get-status ; Call ros-msgs-destroy-client-goal-handle before retracting. ; Clean up only after goal is completely handled by the server. (deftemplate ros-msgs-goal-response (slot server (type STRING)) (slot client-goal-handle-ptr (type EXTERNAL-ADDRESS)) )

; Asserted by the goal result callback of ros-msgs-async-send-goal function. ; The result is a ROS message and can be processed using ros-msgs-get-field. (deftemplate ros-msgs-wrapped-result (slot server (type STRING))

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Changelog for package cx_ros_msgs_plugin

0.1.3 (2025-08-06)

• 0.1.3
• Contributors: Tarik Viehmann

0.1.2 (2025-07-16)

0.1.1 (2025-07-11)

• project: prepare for first ros2 release
• Contributors: Tarik Viehmann