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Repository Summary
| Checkout URI | https://github.com/yuma-m/ros_wild.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2016-12-19 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| ros_wild | 0.5.0 |
README
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
>>> 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))
Subscribed topics are ['/bool/01', '/rosout', 'rosout_agg', '/string/01']
# register callback
>>> sub.register_callback(Bool, callback_bool)
>>> sub.register_callback(String, callback_string)
>>> print("Topics with callback are {}".format(sub.topics_with_callback))
Topics with callaback are ['/bool/01', '/strings/01']
Wildcard Publisher
The code below will publish Log message to /rosout and /rosout_agg topics.
>>> import rospy
>>> from ros_wild import Publisher
>>> from rosgraph_msgs.msg import Log
# publish to all topics
>>> rospy.init_node("test")
>>> pub = Publisher(".*", queue_size=1)
>>> pub.published_topics
['/rosout', '/rosout_agg', '/tf', ... ]
>>> pub.publish(Log(msg="this is test message"))
Links
- Author: Yuma Mihira
- Documentation
- ROS
CONTRIBUTING
No version for distro melodic. Known supported distros are highlighted in the buttons above.