Python ROS Bridge library
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Python ROS Bridge library allows to use Python and IronPython to interact with
ROS, the open-source robotic middleware. It uses WebSockets to connect to `rosbridge 2.0 <http://wiki.ros.org/rosbridgesuite>`_ and provides publishing, subscribing, service calls, actionlib, TF, and other essential ROS functionality.
Unlike the
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_.
tf2_web_republisher.
Roslibpy runs on Python 3.x and IronPython 2.7.
To install roslibpy, simply use
pip::
pip install roslibpy
For IronPython, the
pipcommand 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.
The full documentation, including examples and API reference is available on
readthedocs_.
Make sure you setup your local development environment correctly:
roslibpy_ repository.
::
pip install -r requirements-dev.txt
You're ready to start coding!
During development, use
pyinvoke_ 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_.
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
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.rstwith all novelty!
Ready? Release everything in one command:
::
invoke release [patch|minor|major]
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_.
.. _roslibjs: http://wiki.ros.org/roslibjs