simROS.advertise
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Description
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Advertise a topic and create a topic publisher. |
| Lua synopsis |
string publisherHandle=simROS.advertise(string topicName, string topicType, int queueSize=1, bool latch=false)
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| Lua parameters |
topicName (string): topic name, e.g.: '/cmd_vel'
topicType (string): topic type, e.g.: 'geometry_msgs::Twist'
queueSize (int, default: 1): (optional) queue size
latch (bool, default: false): (optional) latch topic
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| Lua return values |
publisherHandle (string): a handle to the ROS publisher |
| Python synopsis |
string publisherHandle=simROS.advertise(string topicName, string topicType, int queueSize=1, bool latch=false)
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See also
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simROS.imageTransportAdvertise simROS.imageTransportPublish simROS.imageTransportShutdownPublisher simROS.imageTransportShutdownSubscriber simROS.imageTransportSubscribe simROS.publish simROS.publisherTreatUInt8ArrayAsString simROS.sendTransform simROS.sendTransforms simROS.shutdownPublisher simROS.shutdownSubscriber simROS.subscribe simROS.subscriberTreatUInt8ArrayAsString
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simROS.advertiseService
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Description
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Advertise a service and create a service server. |
| Lua synopsis |
string serviceServerHandle=simROS.advertiseService(string serviceName, string serviceType, func serviceCallback)
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| Lua parameters |
serviceName (string): topic name, e.g.: '/cmd_vel'
serviceType (string): topic type, e.g.: 'geometry_msgs::Twist'
serviceCallback (func): callback function, which will be called with a single argument of type table containing the service request payload; it must return another table containing the response
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| Lua return values |
serviceServerHandle (string): a handle to the ROS service server |
| Python synopsis |
string serviceServerHandle=simROS.advertiseService(string serviceName, string serviceType, func serviceCallback)
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See also
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simROS.call simROS.serviceClient simROS.serviceClientTreatUInt8ArrayAsString simROS.serviceServerTreatUInt8ArrayAsString simROS.shutdownServiceClient simROS.shutdownServiceServer
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simROS.call
simROS.deleteParam
simROS.getParamBool
simROS.getParamDouble
simROS.getParamInt
simROS.getParamString
simROS.getTime
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Description
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Return the current ROS time (i.e. the time returned by ros::Time::now()). |
| Lua synopsis |
float time=simROS.getTime(int flag=0)
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| Lua parameters |
flag (int, default: 0): unused: set to zero |
| Lua return values |
time (float): ROS time expressed in seconds |
| Python synopsis |
float time=simROS.getTime(int flag=0)
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See also
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simROS.hasParam
simROS.imageTransportAdvertise
simROS.imageTransportPublish
simROS.imageTransportShutdownPublisher
simROS.imageTransportShutdownSubscriber
simROS.imageTransportSubscribe
simROS.publish
simROS.publisherTreatUInt8ArrayAsString
simROS.searchParam
simROS.sendTransform
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Description
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Publish a TF transformation between frames. |
| Lua synopsis |
simROS.sendTransform(table transform)
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| Lua parameters |
transform (table): the transformation expressed as a geometry_msgs/TransformStamped message, i.e. {header={stamp=timeStamp, frame_id='...'}, child_frame_id='...', transform={translation={x=..., y=..., z=...}, rotation={x=..., y=..., z=..., w=...}}} |
| Lua return values |
- |
| Python synopsis |
simROS.sendTransform(list transform)
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See also
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simROS.advertise simROS.imageTransportAdvertise simROS.imageTransportPublish simROS.imageTransportShutdownPublisher simROS.imageTransportShutdownSubscriber simROS.imageTransportSubscribe simROS.publish simROS.publisherTreatUInt8ArrayAsString simROS.sendTransforms simROS.shutdownPublisher simROS.shutdownSubscriber simROS.subscribe simROS.subscriberTreatUInt8ArrayAsString simROS.sendTransforms
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simROS.sendTransforms
simROS.serviceClient
simROS.serviceClientTreatUInt8ArrayAsString
simROS.serviceServerTreatUInt8ArrayAsString
simROS.setParamBool
simROS.setParamDouble
simROS.setParamInt
simROS.setParamString
simROS.shutdownPublisher
simROS.shutdownServiceClient
simROS.shutdownServiceServer
simROS.shutdownSubscriber
simROS.subscribe
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Description
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Subscribe to a topic. |
| Lua synopsis |
string subscriberHandle=simROS.subscribe(string topicName, string topicType, func topicCallback, int queueSize=1, transport_hints transportHints={})
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| Lua parameters |
topicName (string): topic name, e.g.: '/cmd_vel'
topicType (string): topic type, e.g.: 'geometry_msgs::Twist'
topicCallback (func): callback function, which will be called with a single argument of type table containing the message payload, e.g.: {linear={x=1.5, y=0.0, z=0.0}, angular={x=0.0, y=0.0, z=-2.3}}
queueSize (int, default: 1): (optional) queue size
transportHints (transport_hints, default: {}): (optional) transport hints
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| Lua return values |
subscriberHandle (string): a handle to the ROS subscriber |
| Python synopsis |
string subscriberHandle=simROS.subscribe(string topicName, string topicType, func topicCallback, int queueSize=1, transport_hints transportHints={})
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See also
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simROS.advertise simROS.imageTransportAdvertise simROS.imageTransportPublish simROS.imageTransportShutdownPublisher simROS.imageTransportShutdownSubscriber simROS.imageTransportSubscribe simROS.publish simROS.publisherTreatUInt8ArrayAsString simROS.sendTransform simROS.sendTransforms simROS.shutdownPublisher simROS.shutdownSubscriber simROS.subscriberTreatUInt8ArrayAsString
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simROS.subscriberTreatUInt8ArrayAsString
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Data structures
Data structures are used to pass complex data around. Create data structures in Lua in the form of a map, e.g.: {line_size=3, add_to_legend=false, selectable=true}
transport_hints
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Description
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| Fields |
transports (table of string, default: {}): the list of transports to use. allowed values are 'reliable', 'unreliable', 'tcp', 'udp' (the last two being synonyms of the first two respectively). transports appearing earlier in the list have higher priority. e.g.: {'unreliable','reliable'} specifies that you would prefer an unreliable transport, followed by a reliable one.
tcpNoDelay (bool, default: false)
maxDatagramSize (int, default: 0)
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See also
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