roslibpy 1.7.0

Description:

roslibpy 1.7.0

Python ROS Bridge library allows to use Python and IronPython to interact
with ROS, the open-source robotic middleware.
It uses WebSockets to connect to
rosbridge 2.0 and provides publishing,
subscribing, service calls, actionlib, TF, and other essential ROS functionality.
Unlike the rospy library, this does not require a
local ROS environment, allowing usage from platforms other than Linux.
The API of roslibpy is modeled to closely match that of roslibjs.
ROS1 is fully supported. ROS2 support is still in progress.

Main features

Topic publishing and subscribing.
Service calls (client).
Service advertisement (server).
ROS parameter management (get/set/delete).
ROS API services for getting ROS meta-information.
Actionlib support for interfacing with preemptable tasks.
TF Client via the tf2_web_republisher.

Roslibpy runs on Python 3.x and IronPython 2.7.


Installation
To install roslibpy, simply use pip:
pip install roslibpy
For IronPython, the pip command is slightly different:
ipy -X:Frames -m pip install --user roslibpy
Remember that you will need a working ROS setup including the
rosbridge server and TF2 web republisher accessible within your network.


Documentation
The full documentation, including examples and API reference
is available on readthedocs.


Contributing
Make sure you setup your local development environment correctly:

Clone the roslibpy repository.
Create a virtual environment.
Install development dependencies:

pip install -r requirements-dev.txt
You’re ready to start coding!
During development, use pyinvoke tasks on the
command prompt to ease recurring operations:

invoke clean: Clean all generated artifacts.
invoke check: Run various code and documentation style checks.
invoke docs: Generate documentation.
invoke test: Run all tests and checks in one swift command.
invoke: Show available tasks.

For more details, check the Contributor’s Guide available as part of the documentation.
The default branch was recently renamed to main. If you’ve already cloned this repository,
you’ll need to update your local repository structure with the following lines:
git branch -m master main
git fetch origin
git branch -u origin/main main


Releasing this project
Ready to release a new version roslibpy? Here’s how to do it:

We use semver, i.e. we bump versions as follows:

patch: bugfixes.
minor: backwards-compatible features added.
major: backwards-incompatible changes.


Update the CHANGELOG.rst with all novelty!
Ready? Release everything in one command:

invoke release [patch|minor|major]

Profit!



Credits
This library is based on roslibjs and to a
large extent, it is a line-by-line port to Python, changing only where a more
idiomatic form makes sense, so a huge part of the credit goes to the
roslibjs authors.

Changelog
All notable changes to this project will be documented in this file.
The format is based on Keep a Changelog
and this project adheres to Semantic Versioning.



1.7.0
Added

Added a ROS2-compatible header class in roslibpy.ros2.Header.

Changed
Fixed
Deprecated
Removed


1.6.0
Added

Added authentication functionality described in [rosauth](http://wiki.ros.org/rosauth).

Changed
Fixed
Deprecated
Removed


1.5.0
Added

Added a wait event to close on IronPython to ensure the close request is sent before returning.

Changed
Fixed

Fixed reconnection behavior on IronPython which would trigger reconnects even after a manual disconnect.

Deprecated
Removed


1.4.2
Added
Changed

Added tls to the twisted requirement (#111).

Fixed
Deprecated
Removed


1.4.1
Added
Changed
Fixed

Fixed bug with action client/server and now they work as expected.
Fixed Python 2.7 incompatibilities introduced in 1.4.0.

Deprecated
Removed


1.4.0
Added
Changed

Switched to black for python code formatting.
Fix incompatible settings between black and flake8.
Updated Github Actions workflows to remove python 3.6 builds.
Replaced occurrences of raise Exception with more specific Exception subclasses.

Fixed
Deprecated
Removed


1.3.0
Added

Added function to set the default timeout value.
Added ROS host and port parameters to the command-line interface.

Fixed

Fixed #87 where a goal could be marked as terminal on result alone rather
than both result and status.
Ensure input of Time is always two integers.



1.2.1
Added
Changed
Fixed

Fixed blocking issues on the Twisted/Autobahn-based implementation of websockets.

Deprecated
Removed


1.2.0
Changed

Changed behavior: Advertising services automatically reconnect when websockets is reconnected.
References to ROS master change to ROS.

Added

Added Header and Time data types.
Added ROS API method to retrieve current ROS time: ros.get_time.



1.1.0
Added

Added set_initial_delay, set_max_delay and set_max_retries to RosBridgeClientFactory to control reconnection parameters.
Added closing event to Ros class that gets triggered right before closing the connection.



1.0.0
Changed

Changed behavior: Topics automatically reconnect when websockets is reconnected.

Added

Added blocking behavior to more ROS API methods: ros.get_nodes and ros.get_node_details.
Added reconnection support to IronPython implementation of websockets.
Added automatic topic reconnection support for both subscribers and publishers.

Fixed

Fixed reconnection issues on the Twisted/Autobahn-based implementation of websockets.



0.7.1
Fixed

Fixed blocking service calls for Mac OS.



0.7.0
Changed

The non-blocking event loop runner run() now defaults to 10 seconds timeout before raising an exception.

Added

Added blocking behavior to ROS API methods, e.g. ros.get_topics.
Added command-line mode to ROS API, e.g. roslibpy topic list.
Added blocking behavior to the Param class.
Added parameter manipulation methods to Ros class: get_param, set_param, delete_param.



0.6.0
Changed

For consistency, timeout parameter of Goal.send() is now expressed in seconds, instead of milliseconds.

Deprecated

The timeout parameter of ActionClient() is ignored in favor of blocking until the connection is established.

Fixed

Raise exceptions when timeouts expire on ROS connection or service calls.

Added

Support for calling a function in a thread from the Ros client.
Added implementation of a Simple Action Server.



0.5.0
Changed

The non-blocking event loop runner now waits for the connection to be established in order to minimize the need for on_ready handlers.

Added

Support blocking and non-blocking service calls.

Fixed

Fixed an internal unsubscribing issue.



0.4.1
Fixed

Resolve reconnection issues.



0.4.0
Added

Add a non-blocking event loop runner.



0.3.0
Changed

Unsubscribing from a listener no longer requires the original callback to be passed.



0.2.1
Fixed

Fix JSON serialization error on TF Client (on Python 3.x).



0.2.0
Added

Add support for IronPython 2.7.

Changed

Handler on_ready now defaults to run the callback in thread.

Deprecated

Rename run_event_loop to the more fitting run_forever.



0.1.1
Fixed

Minimal documentation fixes.



0.1.0
Added

Initial version.