rosapi

Nodes

rosapi (Executable: rosapi_node)

Provides services for getting various ROS meta-information, including ROS topic, services, interfaces or action servers and managing ROS parameters.

Services

• ~/topics (type: rosapi_msgs/srv/Topics)

  Return a list of all the topics being published.

• ~/interfaces (type: rosapi_msgs/srv/Interfaces)

  Return a list of all the interfaces in the system.

• ~/topics_for_type (type: rosapi_msgs/srv/TopicsForType)

  Return a list of all the topics that are publishing a given type.

• ~/topics_and_raw_types (type: rosapi_msgs/srv/TopicsAndRawTypes)

  Return a list of all the topics being published, and their raw types.

• ~/services (type: rosapi_msgs/srv/Services)

  Return a list of all the services being advertised.

• ~/services_for_type (type: rosapi_msgs/srv/ServicesForType)

  Return a list of all the services that are publishing a given type.

• ~/nodes (type: rosapi_msgs/srv/Nodes)

  Return a list of all the nodes that are registered.

• ~/node_details (type: rosapi_msgs/srv/NodeDetails)

  Return a node description including subscribing, publishing, and services.

• ~/action_servers (type: rosapi_msgs/srv/GetActionServers)

  Return a list of action servers based on actions standard topics.

• ~/action_type (type: rosapi_msgs/srv/ActionType)

  Given the name of an action, return its type.

• ~/topic_type (type: rosapi_msgs/srv/TopicType)

  Given the name of a topic, return the name of the type of that topic.

• ~/service_type (type: rosapi_msgs/srv/ServiceType)

  Given the name of a service, return the type of that service.

• ~/publishers (type: rosapi_msgs/srv/Publishers)

  Given the name of a topic, return a list of node names that are publishing on that topic.

• ~/subscribers (type: rosapi_msgs/srv/Subscribers)

  Given the name of a topic, return a list of node names that are subscribing to that topic.

• ~/service_providers (type: rosapi_msgs/srv/ServiceProviders)

  Given the name of a service, returns a list of node names that are advertising that service type.

• ~/service_node (type: rosapi_msgs/srv/ServiceNode)

  Given the name of a service, returns the name of the node that is providing that service.

• ~/message_details (type: rosapi_msgs/srv/MessageDetails)

  Given the name of a message type, return the TypeDef for that type.

• ~/service_request_details (type: rosapi_msgs/srv/ServiceRequestDetails)

  Given the name of a service type, return the TypeDef for the request message of that service type.

• ~/service_response_details (type: rosapi_msgs/srv/ServiceResponseDetails)

  Given the name of a service type, return the TypeDef for the response message of that service type.

• ~/action_goal_details (type: rosapi_msgs/srv/ActionGoalDetails)

  Given the name of an action type, return the TypeDef for the goal message of that action type.

• ~/action_result_details (type: rosapi_msgs/srv/ActionResultDetails)

  Given the name of an action type, return the TypeDef for the result message of that action type.

• ~/action_feedback_details (type: rosapi_msgs/srv/ActionFeedbackDetails)

  Given the name of an action type, return the TypeDef for the feedback message of that action type.

• ~/set_param (type: rosapi_msgs/srv/SetParam)

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Changelog for package rosapi

2.3.0 (2025-05-19)

• Handle extra IDL slots when doing array introspection (#1031)
• Add services to return Action interface details (#1021)
• Fix array-like parameter serialization in rosbridge get_param (#1018)
• Contributors: David Fernàndez López, Noah Wardlow, Scott Bell, Błażej Sowa

2.2.0 (2025-02-26)

• New async rosapi params module implementation (#1001)
• Update maintainers (#1000)
• Prevent parameter retrieval crashes (#978)
• Add namespace to services names (#992)
• Add new service to retrieve the different interfaces in the ROS Network (#988)
• Add ament_mypy test and fix all mypy errors (#980)
• Contributors: Błażej Sowa, Lebecque Florian, Mehsias, Matthias Rathauscher, Lebecque Florian

2.1.0 (2024-10-08)

• Fix invalid import of get_parameter_value in rosapi for ROS2 Jazzy. (#932)
• Contributors: David Oberacker

2.0.0 (2024-10-08)

• rosapi: Don't start parameter services that aren't spun (#944)
• Handle ROS 2 types properly (#883)
• Port unit tests to ROS 2 + Fix CBOR conversion and PNG compression (#882)
• Contributors: Brad Martin, Scott Bell, Sebastian Castro

1.3.2 (2023-09-27)

• Fix ROS2 CI for iron & rolling (#875)
• Contributors: Hans-Joachim Krauch

1.3.1 (2022-10-21)

• Add graceful shutdown (#794)
• Contributors: Hans-Joachim Krauch

1.3.0 (2022-08-16)

• Fixed /get_param service for arrays (#776)
• Contributors: p0rys

1.2.0 (2022-05-20)

• Added [/rosapi/get_ros_version]{.title-ref} service (#708)
• Fixed node name collision with websocket launch file (#707)
• Contributors: Jacob Bandes-Storch, Kedus Mathewos, rob-clarke

1.1.2 (2022-01-03)

1.1.1 (2021-12-09)

1.1.0 (2021-10-22)

• Move msg/srv from rosapi and rosbridge_library into separate packages; enable Rolling in CI (#665)
• Exit cleanly on SIGINT; remove sleep in test (#667)
• Remove unused service_host and search_param services (#660)
• Migrate remaining linters to pre-commit (#657)
• Add pre-commit, format with black and isort (#648)
• Contributors: Adrian Macneil, Jacob Bandes-Storch, Kenji Miyake

1.0.8 (2021-08-26)

• Add missing test_depends and buildtool_depends (#617)
• Fix various Python code style and lint issues
• Contributors: Christian Clauss, Jacob Bandes-Storch

1.0.7 (2021-08-18)

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