The list of API functions below provides an interface to ROS. Those functions are part of the RosInterface. This interface naturally duplicates the C/C++ ROS API.
simExtRosInterface_advertise
Description
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Advertise a topic and create a topic publisher.
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Lua synopsis |
int publisherHandle=simExtRosInterface_advertise(string topicName, string topicType, int queueSize = 1, bool latch = false)
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Lua parameters |
topicName:
topic name, e.g.: '/cmd_vel'
topicType:
topic type, e.g.: 'geometry_msgs::Twist'
queueSize:
(optional) queue size
latch:
(optional) latch topic
|
Lua return values |
publisherHandle:
a handle to the ROS publisher
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simExtRosInterface_advertiseService
Description
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Advertise a service and create a service server.
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Lua synopsis |
int serviceServerHandle=simExtRosInterface_advertiseService(string serviceName, string serviceType, string serviceCallback)
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Lua parameters |
serviceName:
topic name, e.g.: '/cmd_vel'
serviceType:
topic type, e.g.: 'geometry_msgs::Twist'
serviceCallback:
name of the callback function, which will be called with a single argument of type
table containing the service request payload; it must return another table containing
the response
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Lua return values |
serviceServerHandle:
a handle to the ROS service server
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simExtRosInterface_call
Description
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Call the service associated with this service client.
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Lua synopsis |
table result=simExtRosInterface_call(int serviceClientHandle, table request)
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Lua parameters |
serviceClientHandle:
the service client handle
request:
the message to publish
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Lua return values |
result:
the response message, if the call succeeded
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simExtRosInterface_deleteParam
Description
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Delete a parameter in the ROS Parameter Server.
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Lua synopsis |
simExtRosInterface_deleteParam(string name)
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Lua parameters |
name:
name of the parameter
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Lua return values |
- |
simExtRosInterface_getParamBool
Description
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Retrieve a boolean parameter from the ROS Parameter Server.
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Lua synopsis |
bool exists, bool value=simExtRosInterface_getParamBool(string name, bool defaultValue = false)
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Lua parameters |
name:
name of the parameter
defaultValue:
default value returned when parameter does not exist
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Lua return values |
exists:
true if the param exists otherwise false
value:
the value of the requested parameter
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simExtRosInterface_getParamDouble
Description
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Retrieve a double parameter from the ROS Parameter Server.
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Lua synopsis |
bool exists, double value=simExtRosInterface_getParamDouble(string name, double defaultValue = 0.0)
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Lua parameters |
name:
name of the parameter
defaultValue:
default value returned when parameter does not exist
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Lua return values |
exists:
true if the param exists otherwise false
value:
the value of the requested parameter
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simExtRosInterface_getParamInt
Description
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Retrieve an integer parameter from the ROS Parameter Server.
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Lua synopsis |
bool exists, int value=simExtRosInterface_getParamInt(string name, int defaultValue = 0)
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Lua parameters |
name:
name of the parameter
defaultValue:
default value returned when parameter does not exist
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Lua return values |
exists:
true if the param exists otherwise false
value:
the value of the requested parameter
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simExtRosInterface_getParamString
Description
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Retrieve a string parameter from the ROS Parameter Server.
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Lua synopsis |
bool exists, string value=simExtRosInterface_getParamString(string name, string defaultValue = )
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Lua parameters |
name:
name of the parameter
defaultValue:
default value returned when parameter does not exist
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Lua return values |
exists:
true if the param exists otherwise false
value:
the value of the requested parameter
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simExtRosInterface_getTime
Description
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Return the current ROS time (i.e. the time returned by ros::Time::now()).
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Lua synopsis |
double time=simExtRosInterface_getTime(int flag = 0)
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Lua parameters |
flag:
unused: set to zero
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Lua return values |
time:
ROS time expressed in seconds
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simExtRosInterface_hasParam
Description
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Check wether a parameter exists in the ROS Parameter Server.
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Lua synopsis |
bool exists=simExtRosInterface_hasParam(string name)
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Lua parameters |
name:
name of the parameter
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Lua return values |
exists:
true if the parameter exists, false otherwise
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simExtRosInterface_imageTransportAdvertise
Description
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Advertise a topic and create a topic publisher using ImageTransport.
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Lua synopsis |
int publisherHandle=simExtRosInterface_imageTransportAdvertise(string topicName, int queueSize = 1)
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Lua parameters |
topicName:
topic name, e.g.: '/cmd_vel'
queueSize:
(optional) queue size
|
Lua return values |
publisherHandle:
a handle to the ROS publisher
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simExtRosInterface_imageTransportPublish
Description
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Publish a message on the topic associated with this publisher using ImageTransport.
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Lua synopsis |
simExtRosInterface_imageTransportPublish(int publisherHandle, string data, int width, int height, string frame_id)
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Lua parameters |
publisherHandle:
the publisher handle
data:
the image data
width:
image width
height:
image height
frame_id:
frame id
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Lua return values |
- |
simExtRosInterface_imageTransportShutdownPublisher
Description
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Shutdown the advertisement associated with this publisher using ImageTransport.
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Lua synopsis |
simExtRosInterface_imageTransportShutdownPublisher(int publisherHandle)
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Lua parameters |
publisherHandle:
the publisher handle
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Lua return values |
- |
simExtRosInterface_imageTransportShutdownSubscriber
Description
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Unsubscribe the callback associated with this subscriber using ImageTransport.
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Lua synopsis |
simExtRosInterface_imageTransportShutdownSubscriber(int subscriberHandle)
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Lua parameters |
subscriberHandle:
the subscriber handle
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Lua return values |
- |
simExtRosInterface_imageTransportSubscribe
Description
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Subscribe to a topic using ImageTransport.
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Lua synopsis |
int subscriberHandle=simExtRosInterface_imageTransportSubscribe(string topicName, string topicCallback, int queueSize = 1)
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Lua parameters |
topicName:
topic name, e.g.: '/cmd_vel'
topicCallback:
name of the callback function, which will be called as: topicCallback(string data,
number width, number height)
queueSize:
(optional) queue size
|
Lua return values |
subscriberHandle:
a handle to the ROS subscriber
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simExtRosInterface_publish
Description
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Publish a message on the topic associated with this publisher.
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Lua synopsis |
simExtRosInterface_publish(int publisherHandle, table message)
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Lua parameters |
publisherHandle:
the publisher handle
message:
the message to publish
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Lua return values |
- |
simExtRosInterface_publisherTreatUInt8ArrayAsString
Description
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After calling this function, this publisher will treat uint8 arrays as string. Using
strings should be in general much faster that using int arrays in Lua.
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Lua synopsis |
simExtRosInterface_publisherTreatUInt8ArrayAsString(int publisherHandle)
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Lua parameters |
publisherHandle:
the publisher handle
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Lua return values |
- |
simExtRosInterface_searchParam
Description
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Search a parameter in the ROS Parameter Server, looking in the closest namespace.
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Lua synopsis |
bool found, string name=simExtRosInterface_searchParam(string name)
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Lua parameters |
name:
name of the parameter
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Lua return values |
found:
true if the parameter has been found
name:
name of the parameter which has been found
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simExtRosInterface_sendTransform
Description
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Publish a TF transformation between frames.
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Lua synopsis |
simExtRosInterface_sendTransform(table transform)
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Lua parameters |
transform:
the transformation expressed as a geometry_msgs/TransformStamped message, i.e. {header={stamp=timeStamp,
frame_id='...'}, child_frame_id='...', transform={translation={x=..., y=..., z=...},
rotation={x=..., y=..., z=..., w=...}}}
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Lua return values |
- |
simExtRosInterface_sendTransforms
Description
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Publish several TF transformations between frames.
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Lua synopsis |
simExtRosInterface_sendTransforms(table transforms)
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Lua parameters |
transforms:
an array of geometry_msgs/TransformStamped messages
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Lua return values |
- |
simExtRosInterface_serviceClient
Description
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Create a service client.
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Lua synopsis |
int serviceClientHandle=simExtRosInterface_serviceClient(string serviceName, string serviceType)
|
Lua parameters |
serviceName:
topic name, e.g.: '/cmd_vel'
serviceType:
topic type, e.g.: 'geometry_msgs::Twist'
|
Lua return values |
serviceClientHandle:
a handle to the ROS service client
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simExtRosInterface_serviceClientTreatUInt8ArrayAsString
Description
|
After calling this function, this service client will treat uint8 arrays as string.
Using strings should be in general much faster that using int arrays in Lua.
|
Lua synopsis |
simExtRosInterface_serviceClientTreatUInt8ArrayAsString(int serviceClientHandle)
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Lua parameters |
serviceClientHandle:
the service client handle
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Lua return values |
- |
simExtRosInterface_serviceServerTreatUInt8ArrayAsString
Description
|
After calling this function, this service server will treat uint8 arrays as string.
Using strings should be in general much faster that using int arrays in Lua.
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Lua synopsis |
simExtRosInterface_serviceServerTreatUInt8ArrayAsString(int serviceServerHandle)
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Lua parameters |
serviceServerHandle:
the service server handle
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Lua return values |
- |
simExtRosInterface_setParamBool
Description
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Set a boolean parameter in the ROS Parameter Server.
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Lua synopsis |
simExtRosInterface_setParamBool(string name, bool value)
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Lua parameters |
name:
name of the parameter
value:
value of the parameter
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Lua return values |
- |
simExtRosInterface_setParamDouble
Description
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Set a double parameter in the ROS Parameter Server.
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Lua synopsis |
simExtRosInterface_setParamDouble(string name, double value)
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Lua parameters |
name:
name of the parameter
value:
value of the parameter
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Lua return values |
- |
simExtRosInterface_setParamInt
Description
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Set a integer parameter in the ROS Parameter Server.
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Lua synopsis |
simExtRosInterface_setParamInt(string name, int value)
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Lua parameters |
name:
name of the parameter
value:
value of the parameter
|
Lua return values |
- |
simExtRosInterface_setParamString
Description
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Set a string parameter in the ROS Parameter Server.
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Lua synopsis |
simExtRosInterface_setParamString(string name, string value)
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Lua parameters |
name:
name of the parameter
value:
value of the parameter
|
Lua return values |
- |
simExtRosInterface_shutdownPublisher
Description
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Shutdown the advertisement associated with this publisher.
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Lua synopsis |
simExtRosInterface_shutdownPublisher(int publisherHandle)
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Lua parameters |
publisherHandle:
the publisher handle
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Lua return values |
- |
simExtRosInterface_shutdownServiceClient
Description
|
Shutdown the service client.
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Lua synopsis |
simExtRosInterface_shutdownServiceClient(int serviceClientHandle)
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Lua parameters |
serviceClientHandle:
the service client handle
|
Lua return values |
- |
simExtRosInterface_shutdownServiceServer
Description
|
Shutdown the service server.
|
Lua synopsis |
simExtRosInterface_shutdownServiceServer(int serviceServerHandle)
|
Lua parameters |
serviceServerHandle:
the service server handle
|
Lua return values |
- |
simExtRosInterface_shutdownSubscriber
Description
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Unsubscribe the callback associated with this subscriber.
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Lua synopsis |
simExtRosInterface_shutdownSubscriber(int subscriberHandle)
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Lua parameters |
subscriberHandle:
the subscriber handle
|
Lua return values |
- |
simExtRosInterface_subscribe
Description
|
Subscribe to a topic.
|
Lua synopsis |
int subscriberHandle=simExtRosInterface_subscribe(string topicName, string topicType, string topicCallback, int queueSize = 1)
|
Lua parameters |
topicName:
topic name, e.g.: '/cmd_vel'
topicType:
topic type, e.g.: 'geometry_msgs::Twist'
topicCallback:
name of the callback function, which will be called with a single argument of type
table containing the message payload, e.g.: {linear={x=1.5, y=0.0, z=0.0}, angular={x=0.0,
y=0.0, z=-2.3}}
queueSize:
(optional) queue size
|
Lua return values |
subscriberHandle:
a handle to the ROS subscriber
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simExtRosInterface_subscriberTreatUInt8ArrayAsString
Description
|
After calling this function, this subscriber will treat uint8 arrays as string. Using
strings should be in general much faster that using int arrays in Lua.
|
Lua synopsis |
simExtRosInterface_subscriberTreatUInt8ArrayAsString(int subscriberHandle)
|
Lua parameters |
subscriberHandle:
the subscriber handle
|
Lua return values |
- |
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