hbp_nrp_cle.robotsim.RosCommunicationAdapter module

Represents an implementation of the robot communication adapter actually using ROS

class RosCommunicationAdapter

Bases: hbp_nrp_cle.robotsim.RobotInterface.IRobotCommunicationAdapter

Represents a robot communication adapter actually using ROS

create_service_proxy(service, **config)

Creates a service proxy object for the given service

Parameters

• service – The service

• config – Additional configuration for the service proxy

Returns

A service proxy object

create_topic_publisher(topic, **config)

Creates a publisher object for the given topic

Parameters

• topic – The topic

• config – Additional configuration for the publisher

• queue_size – ROS Publisher queue_size parameter, please refer to ROS documentation

Returns

A publisher object

create_topic_subscriber(topic, **config)

Creates the subscription object for the given topic

Parameters

• topic – The topic

• config – Additional configuration for the subscriber

• queue_size – ROS Subscriber queue_size parameter, please refer to ROS documentation

• buff_size – ROS Subscriber buff_size parameter, please refer to ROS documentation

Returns

A subscription object

get_topic_type(topic_name, update_when_miss=True)

Gets the type for the given ROS topic

Parameters

• topic_name – The name of the topic

• update_when_miss – If set, the function will try to update the cached topic types if the topic cannot be found

initialize(name)

Initializes this robot communication adapter

Parameters

name – The name of this node

property is_alive

Gets a value indicating whether the robot simulation is still alive

refresh_buffers(t)

Resets the changed bit for all subscribers

Parameters

t – The world simulation time in milliseconds

shutdown()

Closes any connections created by the adapter

class RosPublishedPreprocessedTopic(topic, **config)

Bases: hbp_nrp_cle.robotsim.RosCommunicationAdapter.RosPublishedTopic

Represents a robot topic publisher actually using ROS

send_message(value)

Sends a message

Parameters

value – The message to be sent

class RosPublishedTopic(topic, **config)

Bases: hbp_nrp_cle.robotsim.RobotInterface.IRobotPublishedTopic

Represents a robot topic publisher actually using ROS

send_message(value)

Sends a message

Parameters

value – The message to be sent (the type must match the topic type)

class RosServiceProxy(service, initial_response=None, persistent=False, headers=None)

Bases: hbp_nrp_cle.robotsim.RobotInterface.IRobotServiceProxy

Represents a robot service proxy actually using ROS

reset(transfer_function_manager)

Gets a reset subscriber

Parameters

transfer_function_manager – The transfer function manager in which the subscribed service is contained

set_request_args(*args, **kwargs)

Update service proxy request arguments

update_value(*args, **kwargs)

Update service response value

Returns

Returns Service Response

property value

Gets the last value received by this ROS subscribed service

class RosSubscribedPreprocessedTopic(topic, initial_value, **config)

Bases: hbp_nrp_cle.robotsim.RosCommunicationAdapter.RosSubscribedTopic

Represents a robot topic subscriber with a preprocessor

class RosSubscribedTopic(topic, initial_value, **config)

Bases: hbp_nrp_cle.robotsim.RobotInterface.IRobotSubscribedTopic

Represents a robot topic subscriber actually using ROS

property changed

Indicates whether the current value of this subscriber has changed since the last iteration

register_tf_trigger(tf)

Registers to trigger the provided TF in case a new value appears

Parameters

tf – The transfer function

reset(transfer_function_manager)

Gets a reset subscriber

Parameters

transfer_function_manager – The transfer function manager in which the subscribed topic is contained

reset_changed()

Resets the changed status of the current subscriber

property value

Gets the last value received by this ROS subscribed topic