ros_wild

Wildcard Subscriber and Publisher for ROS (Python only).

Installation

$ sudo apt install ros-kinetic-ros-wild

or

$ cd /path/to/your/catkin_ws/src/
$ git clone https://github.com/yuma-m/ros_wild.git
$ cd ../
$ catkin_make

Usage

Example scripts are placed in example directory.

Command line

Echo multiple topics

$ rosrun ros_wild echo ".*_sensor"
---
topic: /ultrasound_sensor
type: sensor_msgs/Range

header:
  seq: 1
  stamp:
    secs: 1478776655
    nsecs:    143582
  frame_id: ultrasound_sensor
radiation_type: 0
field_of_view: 0.569999992847
min_range: 0.20000000298
max_range: 3.0
range: 0.600000023842
---
topic: /infrared_sensor
type: sensor_msgs/Range

header:
  seq: 2
  stamp:
    secs: 1478776656
    nsecs:    998511
  frame_id: infrared_sensor
radiation_type: 1
field_of_view: 0.00999999977648
min_range: 0.00999999977648
max_range: 1.0
range: 0.20000000298

Python

Wildcard Subscriber

>>> from ros_wild import Subscriber

# subscribe to all Log topics
>>> sub = Subscriber(r"/rosout.*")
>>> sub.subscribed_topics
['/rosout', '/rosout_agg']

# unsubscribe from all topics
>>> sub.unregister_all()
>>> sub.subscribed_topics
[]

# resubscribe to topics
>>> sub.reload_topics()
>>> sub.subscribed_topics
['/rosout', '/rosout_agg']

Register Callback

```python

from ros_wild import Subscriber from std_msgs.msg import Bool, String

def callback_bool(msg): print(“bool is {}”.format(msg.data))

def callback_string(msg): print(“string is {}”.format(msg.data))

subscribe without callback

sub = Subscriber(r”.+”) print(“Subscribed topics are {}”.format(sub.subscribed_topics))

File truncated at 100 lines see the full file

Changelog for package ros_wild

0.5.0 (2016-12-14)

• Fix CMakeLists.txt
• Release package

0.4.2 (2016-11-18)

• Add tests for publisher and subscriber
• Add topics_with/without_callback method for subscriber

0.4.1 (2016-11-17)

• Register callback by data class to wildcard subscriber

0.4.0 (2016-11-17)

• Modify publisher and subscriber to create instance without specifying data class

0.3.0 (2016-11-10)

• Create a node to echo topics

0.2.0 (2016-11-10)

• Create wildcard publisher

0.1.0 (2016-11-09)

• Create wildcard subscriber