Add rosnode and rostopic functionality

rclpy/rclpy/__init__.py

@@ -20,12 +20,16 @@
 def init(args):
     return _rclpy.rclpy_init(args)
 
+def get_node_names():
+    return _rclpy.rclpy_get_node_names()
+
+def get_remote_topic_names_and_types():
+    return _rclpy.rclpy_get_remote_topic_names_and_types()
 
 def create_node(node_name):
     node_handle = _rclpy.rclpy_create_node(node_name)
     return Node(node_handle)
 
-
 def spin(node):
     wait_set = _rclpy.rclpy_get_zero_initialized_wait_set()
 

rclpy/rclpy/rosnode.py

@@ -0,0 +1,132 @@
+# Copyright 2016 Erle Robotics, LLC
+#
+# A relevant part of the code has been written taking inpiration
+# from ROS 1 ros_comm package attributed to Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import rclpy
+import time
+import os
+import errno
+import sys
+
+from optparse import OptionParser
+
+NAME='rosnode'
+
+# TODO implement
+def _rosnode_cmd_ping(argv):
+    print("NOT IMPLEMENTED\n")
+    sys.exit(0)
+
+# TODO implement
+def _rosnode_cmd_info(argv):
+    print("NOT IMPLEMENTED\n")
+    sys.exit(0)
+
+# TODO implement
+def _rosnode_cmd_machine(argv):
+    print("NOT IMPLEMENTED\n")
+    sys.exit(0)
+
+# TODO implement
+def _rosnode_cmd_cleanup(argv):
+    print("NOT IMPLEMENTED\n")
+    sys.exit(0)
+
+# TODO implement
+def _rosnode_cmd_kill(argv):
+    print("NOT IMPLEMENTED\n")
+    sys.exit(0)
+
+def _rosnode_cmd_list(argv):
+    """
+    Implements rosnode 'list' command.
+    """
+    args = argv[2:]
+    parser = OptionParser(usage="usage: %prog list", prog=NAME)
+    parser.add_option("-u",
+                      dest="list_uri", default=False,
+                      action="store_true",
+                      help="list XML-RPC URIs (NOT IMPLEMENTED)")
+    parser.add_option("-a","--all",
+                      dest="list_all", default=False,
+                      action="store_true",
+                      help="list all information (NOT IMPLEMENTED)")
+    (options, args) = parser.parse_args(args)
+    namespace = None
+    if len(args) > 1:
+        parser.error("invalid args: you may only specify one namespace")
+    elif len(args) == 1:
+        #namespace = rosgraph.names.script_resolve_name('rostopic', args[0])
+        pass
+
+    # In ROS 1, the rosnode list invocation was performed using:
+    #    rosnode_listnodes(namespace=namespace, list_uri=options.list_uri, list_all=options.list_all)
+
+    result = rclpy.get_node_names()
+    for node in result:
+        print(node)
+
+
+def _fullusage(return_error=True):
+    """
+    Prints rosnode usage information.
+    @param return_error whether to exit with error code os.EX_USAGE
+    """
+    print("""rosnode is a command-line tool for printing information about ROS Nodes.
+Commands:
+\trosnode ping\ttest connectivity to node (NOT IMPLEMENTED)
+\trosnode list\tlist active nodes
+\trosnode info\tprint information about node (NOT IMPLEMENTED)
+\trosnode machine\tlist nodes running on a particular machine or list machines
+\trosnode kill\tkill a running node (NOT IMPLEMENTED)
+\trosnode cleanup\tpurge registration information of unreachable nodes (NOT IMPLEMENTED)
+Type rosnode <command> -h for more detailed usage, e.g. 'rosnode ping -h'
+""")
+    if return_error:
+        sys.exit(getattr(os, 'EX_USAGE', 1))
+    else:
+        sys.exit(0)
+
+def rosnodemain(argv=None):
+    """
+    Prints rosnode main entrypoint.
+    @param argv: override sys.argv
+    @param argv: [str]
+    """
+    if argv == None:
+        argv = sys.argv
+    if len(argv) == 1:
+        _fullusage()
+    try:
+        command = argv[1]
+        if command == 'ping':
+            sys.exit(_rosnode_cmd_ping(argv) or 0)
+        elif command == 'list':
+            sys.exit(_rosnode_cmd_list(argv) or 0)
+        elif command == 'info':
+            sys.exit(_rosnode_cmd_info(argv) or 0)
+        elif command == 'machine':
+            sys.exit(_rosnode_cmd_machine(argv) or 0)
+        elif command == 'cleanup':
+            sys.exit(_rosnode_cmd_cleanup(argv) or 0)
+        elif command == 'kill':
+            sys.exit(_rosnode_cmd_kill(argv) or 0)
+        elif command == '--help':
+            _fullusage(False)
+        else:
+            _fullusage()
+    except KeyboardInterrupt:
+        pass