Module roslua.master_proxy
Master XML-RPC API proxy. This module contains the MasterProxy class to call methods provided via XML-RPC by the ROS master.
The user should not have to directly interact with the master. It is used register and unregister topic publishers/subscribers and services, to lookup nodes and services, and to gather information about the master.
Copyright© Tim Niemueller, Carnegie Mellon University, Intel Research Pittsburgh
Release: Released under BSD license
Functions
| MasterProxy:getPublishedTopics (subgraph) | Get published topics. |
| MasterProxy:getSystemState () | Get master system state. |
| MasterProxy:getUri () | Get master URI. |
| MasterProxy:lookupNode (node_name, name) | Lookup node by name. |
| MasterProxy:lookupService (service) | Lookup service by name. |
| MasterProxy:new (ros_master_uri, node_name) | Constructor. |
| MasterProxy:registerPublisher (topic, topic_type) | Register Publisher with the master. |
| MasterProxy:registerService (service, service_api) | Register a service with the master. |
| MasterProxy:registerSubscriber (topic, topic_type) | Register subscriber with the master. |
| MasterProxy:unregisterPublisher (topic) | Unregister publisher from master. |
| MasterProxy:unregisterService (service, service_api) | Unregister a service from master. |
| MasterProxy:unregisterSubscriber (topic) | Unregister subscriber from master. |
Functions
- MasterProxy:getPublishedTopics (subgraph)
-
Get published topics.
Parameters
- subgraph: subgraph to query from master
Return value:
graph of topics - MasterProxy:getSystemState ()
-
Get master system state.
Return value:
three array of registered publishers, subscribers, and services - MasterProxy:getUri ()
-
Get master URI. Considering that you need to know the URI to call this method is's quite useless.
Return value:
ROS master URI - MasterProxy:lookupNode (node_name, name)
-
Lookup node by name.
Parameters
- node_name:
- name: of node to lookup
Return value:
Slave API XML-RPC HTTP URI - MasterProxy:lookupService (service)
-
Lookup service by name.
Parameters
- service: name of service to lookup
Return value:
ROS RPC URI of service provider - MasterProxy:new (ros_master_uri, node_name)
-
Constructor.
Parameters
- ros_master_uri: XML-RPC HTTP URI of ROS master
- node_name: name of this node
- MasterProxy:registerPublisher (topic, topic_type)
-
Register Publisher with the master.
Parameters
- topic: topic to register for
- topic_type: type of the topic
- MasterProxy:registerService (service, service_api)
-
Register a service with the master.
Parameters
- service: name of service to register
- service_api: ROS RPC URI of service
- MasterProxy:registerSubscriber (topic, topic_type)
-
Register subscriber with the master.
Parameters
- topic: topic to register for
- topic_type: type of the topic
- MasterProxy:unregisterPublisher (topic)
-
Unregister publisher from master.
Parameters
- topic: topic to register for
- MasterProxy:unregisterService (service, service_api)
-
Unregister a service from master.
Parameters
- service: name of service to register
- service_api: ROS RPC URI of service
- MasterProxy:unregisterSubscriber (topic)
-
Unregister subscriber from master.
Parameters
- topic: topic to register for