niryo_libraries.rosmaster.master_api.ROSMasterHandler

ctor.

Parameter Server: delete parameter @param caller_id: ROS caller id @type caller_id: str @param key: parameter name @type key: str @return: [code, msg, 0] @rtype: [int, str, int]

Retrieve parameter value from server. @param caller_id: ROS caller id @type caller_id: str @param key: parameter to lookup. If key is a namespace, getParam() will return a parameter tree. @type key: str getParam() will return a parameter tree.

@return: [code, statusMessage, parameterValue]. If code is not

1, parameterValue should be ignored. If key is a namespace, the return value will be a dictionary, where each key is a parameter in that namespace. Sub-namespaces are also represented as dictionaries.

@rtype: [int, str, XMLRPCLegalValue]

Get list of all parameter names stored on this server. This does not adjust parameter names for caller's scope.

@param caller_id: ROS caller id @type caller_id: str @return: [code, statusMessage, parameterNameList] @rtype: [int, str, [str]]

Get the PID of this server @param caller_id: ROS caller id @type caller_id: str @return: [1, "", serverProcessPID] @rtype: [int, str, int]

Get list of topics that can be subscribed to. This does not return topics that have no publishers. See L{getSystemState()} to get more comprehensive list. @param caller_id: ROS caller id @type caller_id: str @param subgraph: Restrict topic names to match within the specified subgraph. Subgraph namespace

is resolved relative to the caller's namespace. Use '' to specify all names.

@type subgraph: str @return: (code, msg, [[topic1, type1]...[topicN, typeN]]) @rtype: (int, str, [[str, str],])

Retrieve list representation of system state (i.e. publishers, subscribers, and services). @param caller_id: ROS caller id @type caller_id: str @rtype: (int, str, [[str,[str]], [str,[str]], [str,[str]]]) @return: (code, statusMessage, systemState).

System state is in list representation::

[publishers, subscribers, services].

publishers is of the form::

[ [topic1, [topic1Publisher1...topic1PublisherN]] ... ]

subscribers is of the form::

[ [topic1, [topic1Subscriber1...topic1SubscriberN]] ... ]

services is of the form::

[ [service1, [service1Provider1...service1ProviderN]] ... ]

Retrieve list topic names and their types. @param caller_id: ROS caller id @type caller_id: str @rtype: (int, str, [[str,str]] ) @return: (code, statusMessage, topicTypes). topicTypes is a list of [topicName, topicType] pairs.

Get the XML-RPC URI of this server. @param caller_id str: ROS caller id @return [int, str, str]: [1, "", xmlRpcUri]

Check if parameter is stored on server. @param caller_id str: ROS caller id @type caller_id: str @param key: parameter to check @type key: str @return: [code, statusMessage, hasParam] @rtype: [int, str, bool]

Get the XML-RPC URI of the node with the associated name/caller_id. This API is for looking information about publishers and subscribers. Use lookupService instead to lookup ROS-RPC URIs. @param caller_id: ROS caller id @type caller_id: str @param node: name of node to lookup @type node: str @return: (code, msg, URI) @rtype: (int, str, str)

Lookup all provider of a particular service. @param caller_id str: ROS caller id @type caller_id: str @param service: fully-qualified name of service to lookup. @type: service: str @return: (code, message, serviceUrl). service URL is provider's

ROSRPC URI with address and port. Fails if there is no provider.

@rtype: (int, str, str)

Contact api.paramUpdate with specified parameters @param caller_id: caller ID @type caller_id: str @param caller_api: XML-RPC URI of node to contact @type caller_api: str @param param_key: parameter key to pass to node @type param_key: str @param param_value: parameter value to pass to node @type param_value: str

Register the caller as a publisher the topic. @param caller_id: ROS caller id @type caller_id: str @param topic: Fully-qualified name of topic to register. @type topic: str @param topic_type: Datatype for topic. Must be a package-resource name, i.e. the .msg name. @type topic_type: str @param caller_api str: ROS caller XML-RPC API URI @type caller_api: str @return: (code, statusMessage, subscriberApis). List of current subscribers of topic in the form of XMLRPC URIs. @rtype: (int, str, [str])

Register the caller as a provider of the specified service. @param caller_id str: ROS caller id @type caller_id: str @param service: Fully-qualified name of service @type service: str @param service_api: Service URI @type service_api: str @param caller_api: XML-RPC URI of caller node @type caller_api: str @return: (code, message, ignore) @rtype: (int, str, int)

Subscribe the caller to the specified topic. In addition to receiving a list of current publishers, the subscriber will also receive notifications of new publishers via the publisherUpdate API. @param caller_id: ROS caller id @type caller_id: str @param topic str: Fully-qualified name of topic to subscribe to. @param topic_type: Datatype for topic. Must be a package-resource name, i.e. the .msg name. @type topic_type: str @param caller_api: XML-RPC URI of caller node for new publisher notifications @type caller_api: str @return: (code, message, publishers). Publishers is a list of XMLRPC API URIs

for nodes currently publishing the specified topic.

@rtype: (int, str, [str])

Search for parameter key on parameter server. Search starts in caller's namespace and proceeds upwards through parent namespaces until Parameter Server finds a matching key.

searchParam's behavior is to search for the first partial match. For example, imagine that there are two 'robot_description' parameters:

/robot_description
  /robot_description/arm
  /robot_description/base
/pr2/robot_description
  /pr2/robot_description/base

If I start in the namespace /pr2/foo and search for 'robot_description', searchParam will match /pr2/robot_description. If I search for 'robot_description/arm' it will return /pr2/robot_description/arm, even though that parameter does not exist (yet).

@param caller_id str: ROS caller id @type caller_id: str @param key: parameter key to search for. @type key: str @return: [code, statusMessage, foundKey]. If code is not 1, foundKey should be

ignored.

@rtype: [int, str, str]

Parameter Server: set parameter. NOTE: if value is a dictionary it will be treated as a parameter tree, where key is the parameter namespace. For example::

{'x':1,'y':2,'sub':{'z':3}}

will set key/x=1, key/y=2, and key/sub/z=3. Furthermore, it will replace all existing parameters in the key parameter namespace with the parameters in value. You must set parameters individually if you wish to perform a union update.

@param caller_id: ROS caller id @type caller_id: str @param key: parameter name @type key: str @param value: parameter value. @type value: XMLRPCLegalValue @return: [code, msg, 0] @rtype: [int, str, int]

Stop this server @param caller_id: ROS caller id @type caller_id: str @param msg: a message describing why the node is being shutdown. @type msg: str @return: [code, msg, 0] @rtype: [int, str, int]

Retrieve parameter value from server and subscribe to updates to that param. See paramUpdate() in the Node API. @param caller_id str: ROS caller id @type caller_id: str @param key: parameter to lookup. @type key: str @param caller_api: API URI for paramUpdate callbacks. @type caller_api: str @return: [code, statusMessage, parameterValue]. If code is not

1, parameterValue should be ignored. parameterValue is an empty dictionary if the parameter has not been set yet.

@rtype: [int, str, XMLRPCLegalValue]

Unregister the caller as a publisher of the topic. @param caller_id: ROS caller id @type caller_id: str @param topic: Fully-qualified name of topic to unregister. @type topic: str @param caller_api str: API URI of service to

unregister. Unregistration will only occur if current registration matches.

@type caller_api: str @return: (code, statusMessage, numUnregistered).

If numUnregistered is zero it means that the caller was not registered as a publisher. The call still succeeds as the intended final state is reached.

@rtype: (int, str, int)

Unregister the caller as a provider of the specified service. @param caller_id str: ROS caller id @type caller_id: str @param service: Fully-qualified name of service @type service: str @param service_api: API URI of service to unregister. Unregistration will only occur if current

registration matches.

@type service_api: str @return: (code, message, numUnregistered). Number of unregistrations (either 0 or 1).

If this is zero it means that the caller was not registered as a service provider. The call still succeeds as the intended final state is reached.

@rtype: (int, str, int)

Unregister the caller as a subscriber of the topic. @param caller_id: ROS caller id @type caller_id: str @param topic: Fully-qualified name of topic to unregister. @type topic: str @param caller_api: API URI of service to unregister. Unregistration will only occur if current

registration matches.

@type caller_api: str @return: (code, statusMessage, numUnsubscribed).

If numUnsubscribed is zero it means that the caller was not registered as a subscriber. The call still succeeds as the intended final state is reached.

@rtype: (int, str, int)

Retrieve parameter value from server and subscribe to updates to that param. See paramUpdate() in the Node API. @param caller_id str: ROS caller id @type caller_id: str @param key: parameter to lookup. @type key: str @param caller_api: API URI for paramUpdate callbacks. @type caller_api: str @return: [code, statusMessage, numUnsubscribed].

If numUnsubscribed is zero it means that the caller was not subscribed to the parameter.

@rtype: [int, str, int]