Two simple nodes that can be used as mediators for shell commands.
Author: André Dietrich & Sebastian Zug License: BSD Source: https://gitlab.com/andre-dietrich/rosshell
This package provides the two nodes, that enable to run and interact with different non-ros-programs. rosshell can be used to start a program or any kind of shell-command. If some kind of interaction with the programs is required, use rosshellX to receive and send messages from stdin, stdout, and stderr.
The required commands are always defined as a string:
$ rosrun rosshell rosshell.py "command"
$ rosrun rosshell rosshellX.py "command"
have a look at the examples or at the included launch-files.
This command is just used to generate some random noise ...
$ rosrun rosshell rosshell.py "aplay -c 2 -f S16_LE -r 44100 /dev/urandom"
Pipe the results of /dev/random into a text file ...
$ rosrun rosshell rosshell.py "cat /dev/random > test.txt"
or the some information about the current directory ...
$ rosrun rosshell rosshell.py "ls -Shal > test.txt"
This node is used if you require some interaction with stdin, stdout, and stderr.
rosshellX is by default subscribed to /rosshellX/stdin and publishes at topic /rosshellX/stdout and /rosshellX/stderr, all of type std_msgs/String.
3.2.1 Some basic calculations
bc is just a simple commandline-calculator
open three shells
start bc with the following command:
$ rosrun rosshell rosshellX.py "bc"
- print the the results of bc stdout by running:
$ rostopic echo /rosshellX/stdout
- and now, send some inputs like:
$ rostopic pub /rosshellX/stdin std_msgs/String "99*99\n" $ rostopic pub /rosshellX/stdin std_msgs/String "sqrt(2.0)\n" $ rostopic pub /rosshellX/stdin std_msgs/String "33^3\n" $ rostopic pub /rosshellX/stdin std_msgs/String "quit\n"
- to interact a bit with stderr, simply subscribe for:
$ rostopic echo /rosshellX/stderr
and publish some nonsense like
$ rostopic pub /rosshellX/stdin std_msgs/String "wtf\n"
3.2.1 Additional functionality
To get some filesystem-information try:
$ rosrun rosshell rosshellX.py "ls -Shal"
$ rosrun rosshell rosshellX.py _command:="ls -Shal"
both are the same but you also have the possibility to change the command and topics, also within the launch-file, have a look at rosshellX.launch ...
<node pkg="rosshell" type="rosshellX.py" name="rosshellBC"> <param name="command" type="String" value="bc" /> <param name="stdout" type="String" value="bc/stdout" /> <param name="stdout" type="String" value="bc/stderr" /> <param name="stdin" type="String" value="bc/stdin" /> </node>
Allows to run commands with no interaction possibilities.
Allows to run commands and enables an interaction over stdin and stdout.
4.2.1 Subscribed Topics
The standard topic for stdin.
4.2.2 Published Topics
The current line of the stdout.
The current line of the stderr.
command (string, default: "")
Commands that will be executed.
stdout (string, default: /rosshellX/stdout)
Change the topic for stdout.
stdin (string, default: /rosshellX/stdin)
Change the topic for stdin.
stderr (string, default: /rosshellX/stderr)
Change the topic for stderr.