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roslibpy: ROS Bridge library

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Python ROS Bridge library allows to use Python and IronPython to interact with

ROS 

Unlike the

rospy 

The API of roslibpy is modeled to closely match that of

roslibjs

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

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 

Contributing

Make sure you setup your local development environment correctly:

• Clone the

  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 

• 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 

The default branch was recently renamed to

main

::

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 

  _, 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

roslibjs authors 

.. _roslibjs: http://wiki.ros.org/roslibjs