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pcg_gazebo.task_manager

pcg_gazebo.task_manager¶

This module holds all entities related to task scheduling and stages.

is_roscore_running¶

is_roscore_running(ros_master_uri='http://localhost:11311')

Return True if a roscore is running for the provided ROS URI

Input parameters

ros_master_uri (type: str, default: (http://localhost:11311)): The ROS URI of the target roscore node to be tested

is_gazebo_running¶

is_gazebo_running(ros_master_uri='http://localhost:11311')

Return True if an instance of Gazebo is running and was initialized are a ROS node.

Input parameters

ros_master_uri (type: str, default: (http://localhost:11311)): The ROS URI of the target node to be tested

get_rosparam_list¶

get_rosparam_list(ros_master_uri='http://localhost:11311')

Return the list of ROS parameter names in the parameter server running under the provided URI. If no roscore is running, return None instead.

Input parameters

ros_master_uri (type: str, default: (http://localhost:11311)): The ROS URI of the target node to be tested

get_rostopic_list¶

get_rostopic_list(ros_master_uri='http://localhost:11311')

Return the list of ROS topic names under the provided URI. If no roscore is running, return None instead.

Input parameters

ros_master_uri (type: str, default: (http://localhost:11311)): The ROS URI of the target node to be tested

get_rosservice_list¶

get_rosservice_list(ros_master_uri='http://localhost:11311')

Return the list of ROS service names under the provided URI. If no roscore is running, return None instead.

Input parameters

ros_master_uri (type: str, default: (http://localhost:11311)): The ROS URI of the target node to be tested

GazeboProxy¶

GazeboProxy(self,
            ros_host='localhost',
            ros_port=11311,
            gazebo_host='localhost',
            gazebo_port=11345,
            timeout=30,
            ignore_services=None)

ProcessManager¶

ProcessManager(self,
               label='default',
               ros_host='localhost',
               ros_port=11311,
               gazebo_host='localhost',
               gazebo_port=11345,
               output_log_dir=None)

ROSConfig¶

ROSConfig(self,
          ros_host='localhost',
          ros_port=11311,
          gazebo_host='localhost',
          gazebo_port=11345)

Server¶

Server(self)

SimulationTimer¶

SimulationTimer(self,
                simulation_timeout=0,
                start_gazebo_timeout=60,
                ros_config=None,
                output_log_dir=None,
                callback=None)

Stage¶

Stage(self, name)

Task¶

Task(self,
     task_name,
     command,
     params,
     config,
     has_gazebo=False,
     type=None,
     required=False,
     process_timeout=None,
     task_killed_callback=None,
     stage=None,
     output_log_dir=None,
     simulation_timeout=None)