============================
roslibpy: ROS Bridge library
============================
**Python ROS Bridge library** allows to use Python and IronPython to interact
with `ROS <http://www.ros.org>`_, the open-source robotic middleware.
It uses WebSockets to connect to
`rosbridge 2.0 <http://wiki.ros.org/rosbridge_suite>`_ and provides publishing,
subscribing, service calls, actionlib, TF, and other essential ROS functionality.
Unlike the `rospy <http://wiki.ros.org/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 <https://roslibpy.readthedocs.io/>`_.
Contributing
------------
Make sure you setup your local development environment correctly:
* Clone the `roslibpy <https://github.com/gramaziokohler/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 <http://docs.pyinvoke.org/>`_ 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 <https://roslibpy.readthedocs.io/>`_.
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 <http://semver.org/>`_, 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 <https://github.com/RobotWebTools/roslibjs/blob/develop/AUTHORS.md>`_.
.. _roslibjs: http://wiki.ros.org/roslibjs
Changelog
=========
All notable changes to this project will be documented in this file.
The format is based on `Keep a Changelog <http://keepachangelog.com/en/1.0.0/>`_
and this project adheres to `Semantic Versioning <http://semver.org/spec/v2.0.0.html>`_.
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.
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"description": "============================\nroslibpy: ROS Bridge library\n============================\n\n\n\n**Python ROS Bridge library** allows to use Python and IronPython to interact\nwith `ROS <http://www.ros.org>`_, the open-source robotic middleware.\nIt uses WebSockets to connect to\n`rosbridge 2.0 <http://wiki.ros.org/rosbridge_suite>`_ and provides publishing,\nsubscribing, service calls, actionlib, TF, and other essential ROS functionality.\n\nUnlike the `rospy <http://wiki.ros.org/rospy>`_ library, this does not require a\nlocal ROS environment, allowing usage from platforms other than Linux.\n\nThe API of **roslibpy** is modeled to closely match that of `roslibjs`_.\n\nROS1 is fully supported. ROS2 support is still in progress.\n\n\nMain features\n-------------\n\n* Topic publishing and subscribing.\n* Service calls (client).\n* Service advertisement (server).\n* ROS parameter management (get/set/delete).\n* ROS API services for getting ROS meta-information.\n* Actionlib support for interfacing with preemptable tasks.\n* TF Client via the ``tf2_web_republisher``.\n\n**Roslibpy** runs on Python 3.x and IronPython 2.7.\n\n\nInstallation\n------------\n\nTo install **roslibpy**, simply use ``pip``::\n\n pip install roslibpy\n\nFor IronPython, the ``pip`` command is slightly different::\n\n ipy -X:Frames -m pip install --user roslibpy\n\nRemember that you will need a working ROS setup including the\n**rosbridge server** and **TF2 web republisher** accessible within your network.\n\n\nDocumentation\n-------------\n\nThe full documentation, including examples and API reference\nis available on `readthedocs <https://roslibpy.readthedocs.io/>`_.\n\n\nContributing\n------------\n\nMake sure you setup your local development environment correctly:\n\n* Clone the `roslibpy <https://github.com/gramaziokohler/roslibpy>`_ repository.\n* Create a virtual environment.\n* Install development dependencies:\n\n::\n\n pip install -r requirements-dev.txt\n\n**You're ready to start coding!**\n\nDuring development, use `pyinvoke <http://docs.pyinvoke.org/>`_ tasks on the\ncommand prompt to ease recurring operations:\n\n* ``invoke clean``: Clean all generated artifacts.\n* ``invoke check``: Run various code and documentation style checks.\n* ``invoke docs``: Generate documentation.\n* ``invoke test``: Run all tests and checks in one swift command.\n* ``invoke``: Show available tasks.\n\nFor more details, check the *Contributor's Guide* available as part of `the documentation <https://roslibpy.readthedocs.io/>`_.\n\nThe default branch was recently renamed to `main`. If you've already cloned this repository,\nyou'll need to update your local repository structure with the following lines:\n\n::\n\n git branch -m master main\n git fetch origin\n git branch -u origin/main main\n\n\nReleasing this project\n----------------------\n\nReady to release a new version **roslibpy**? Here's how to do it:\n\n* We use `semver <http://semver.org/>`_, i.e. we bump versions as follows:\n\n * ``patch``: bugfixes.\n * ``minor``: backwards-compatible features added.\n * ``major``: backwards-incompatible changes.\n\n* Update the ``CHANGELOG.rst`` with all novelty!\n* Ready? Release everything in one command:\n\n::\n\n invoke release [patch|minor|major]\n\n* Profit!\n\n\nCredits\n-------\n\nThis library is based on `roslibjs`_ and to a\nlarge extent, it is a line-by-line port to Python, changing only where a more\nidiomatic form makes sense, so a huge part of the credit goes to the\n`roslibjs authors <https://github.com/RobotWebTools/roslibjs/blob/develop/AUTHORS.md>`_.\n\n.. _roslibjs: http://wiki.ros.org/roslibjs\n\n\nChangelog\n=========\n\nAll notable changes to this project will be documented in this file.\n\nThe format is based on `Keep a Changelog <http://keepachangelog.com/en/1.0.0/>`_\nand this project adheres to `Semantic Versioning <http://semver.org/spec/v2.0.0.html>`_.\n\n1.7.0\n----------\n\n**Added**\n\n* Added a ROS2-compatible header class in ``roslibpy.ros2.Header``.\n\n**Changed**\n\n**Fixed**\n\n**Deprecated**\n\n**Removed**\n\n1.6.0\n----------\n\n**Added**\n\n* Added authentication functionality described in [rosauth](http://wiki.ros.org/rosauth).\n\n**Changed**\n\n**Fixed**\n\n**Deprecated**\n\n**Removed**\n\n1.5.0\n----------\n\n**Added**\n\n* Added a wait event to close on IronPython to ensure the close request is sent before returning.\n\n**Changed**\n\n**Fixed**\n\n* Fixed reconnection behavior on IronPython which would trigger reconnects even after a manual disconnect.\n\n**Deprecated**\n\n**Removed**\n\n1.4.2\n----------\n\n**Added**\n\n**Changed**\n\n* Added ``tls`` to the twisted requirement (#111).\n\n**Fixed**\n\n**Deprecated**\n\n**Removed**\n\n1.4.1\n----------\n\n**Added**\n\n**Changed**\n\n**Fixed**\n\n* Fixed bug with action client/server and now they work as expected.\n* Fixed Python 2.7 incompatibilities introduced in 1.4.0.\n\n**Deprecated**\n\n**Removed**\n\n1.4.0\n----------\n\n**Added**\n\n**Changed**\n\n* Switched to ``black`` for python code formatting.\n* Fix incompatible settings between ``black`` and ``flake8``.\n* Updated Github Actions workflows to remove python 3.6 builds.\n* Replaced occurrences of ``raise Exception`` with more specific ``Exception`` subclasses.\n\n**Fixed**\n\n**Deprecated**\n\n**Removed**\n\n1.3.0\n----------\n\n**Added**\n\n* Added function to set the default timeout value.\n* Added ROS host and port parameters to the command-line interface.\n\n**Fixed**\n\n* Fixed #87 where a goal could be marked as terminal on result alone rather\n than both result and status.\n* Ensure input of ``Time`` is always two integers.\n\n1.2.1\n----------\n\n**Added**\n\n**Changed**\n\n**Fixed**\n\n* Fixed blocking issues on the Twisted/Autobahn-based implementation of websockets.\n\n**Deprecated**\n\n**Removed**\n\n1.2.0\n----------\n\n**Changed**\n\n* Changed behavior: Advertising services automatically reconnect when websockets is reconnected.\n* References to ROS master change to ROS.\n\n**Added**\n\n* Added ``Header`` and ``Time`` data types.\n* Added ROS API method to retrieve current ROS time: ``ros.get_time``.\n\n1.1.0\n----------\n\n**Added**\n\n* Added ``set_initial_delay``, ``set_max_delay`` and ``set_max_retries`` to ``RosBridgeClientFactory`` to control reconnection parameters.\n* Added ``closing`` event to ``Ros`` class that gets triggered right before closing the connection.\n\n1.0.0\n----------\n\n**Changed**\n\n* Changed behavior: Topics automatically reconnect when websockets is reconnected.\n\n**Added**\n\n* Added blocking behavior to more ROS API methods: ``ros.get_nodes`` and ``ros.get_node_details``.\n* Added reconnection support to IronPython implementation of websockets.\n* Added automatic topic reconnection support for both subscribers and publishers.\n\n**Fixed**\n\n* Fixed reconnection issues on the Twisted/Autobahn-based implementation of websockets.\n\n0.7.1\n----------\n\n**Fixed**\n\n* Fixed blocking service calls for Mac OS.\n\n0.7.0\n----------\n\n**Changed**\n\n* The non-blocking event loop runner ``run()`` now defaults to 10 seconds timeout before 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