python_rosbridge

Python package to communicate with a rosbridge tcp server asynchronously
Intended to be use on device that haven't ROS installed
Originaly developed by Pygmatec for the operatorshift project, to be use on the android Kivy plateform

Support:

• Topic publishing
• Topic subscribing
• Service calling

How to use

from python_rosbridge.rosbridge import RosbridgeParameters, ROS_ServiceCaller, ROS_TopicPublisher

RosbridgeParameters.ip = "10.0.0.129"
RosbridgeParameters.port = 9090

def callbackReceive(recv):
    print("Receive:")
    print(str(recv)+"\n")

def callbackFailure(e):
    print("\nFailure:")
    print(str(e)+"\n")

def callbackReceivePrograms(recv):
    print("Received programs:")
    # print(str(recv)+"\n")
    responseDict = json.loads(recv)
    catString = responseDict["values"]["categories"]
    categories = json.loads(catString)
    pprint(categories)

def mylogger(message):
    print("Here a custom logger")
    print(message)


from random import random
mess = str(random()*1000)

newthread = ROS_ServiceCaller("/operatorshift/programs",callbackReceivePrograms, callbackFailure=callbackFailure,args={}, verbose=True, logger=mylogger)
# newthread = ROS_ServiceCaller("/rosapi/get_param",callbackReceive,args={"name":"/rosdistro"})
# newthread = ROS_TopicPublisher("/operatorshift/logger","std_msgs/String",'{"data":"'+mess+'"}')

#newthread = ROS_TopicSubscriber("/operatorshift/programs",callbackReceive)  # -> not a topic, a service
# time.sleep(3)
# newthread.unsuscribe()

Warning

This is an asynchronous package, and the results callback will be called from a thread. Make sure your actions in them are thread safe (exemple: in kivy you can't manipulate UI from a thread because of the opengl thread, so you have to schedule a main thread event, with Clock.schedule_once. )