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Description:

roslibpyvincentbaetenpxl 1.1.1

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.

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 2.7 and 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.

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.

Unreleased
Changed
Added
Fixed

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