ros_controllers

Functions related to the handling of the start, stop, reset, load, unload, etc, of ROS controllers.

ros_controllers.load_controller_srv(controller_name, ns=None, max_retries=5) → bool[source]

Function to load a controller on the namespace.

Parameters

  • controller_name (string) – name of the controller to load

  • ns (string) – namespace

  • max_retries (int) – number of retries to load the controller.

Returns

true if the controller is loaded.

Return type

bool

ros_controllers.load_controller_list_srv(controller_list, ns=None, max_retries=5) → None[source]

Function to load a list of controllers on the namespace.

Parameters

  • controller_list (list of strings) – list of controllers to load

  • ns (string) – namespace

  • max_retries (int) – number of retries to load the controller.

ros_controllers.unload_controller_srv(controller_name, ns=None, max_retries=5) → bool[source]

Function to unload a controller on the namespace.

Parameters

  • controller_name (string) – name of the controller to unload

  • ns (string) – namespace

  • max_retries (int) – number of retries to unload the controller.

Returns

true if the controller is unloaded.

Return type

bool

ros_controllers.unload_controller_list_srv(controller_list, ns=None, max_retries=5) → None[source]

Function to unload a list of controllers on the namespace.

Parameters

  • controller_list (list of strings) – list of controllers to unload

  • ns (string) – namespace

  • max_retries (int) – number of retries to unload the controller.

ros_controllers.switch_controllers_srv(start_controllers, stop_controllers, ns=None, strictness=1, start_asap=False, timeout=3.0, max_retries=5) → bool[source]

Function to switch controllers on the namespace.

Parameters

  • start_controllers (list of strings) – list of controllers to start

  • stop_controllers (list of strings) – list of controllers to stop

  • ns (string) – namespace

  • strictness (int) – strictness of the controller manager: BEST_EFFORT or STRICT (1 and 2, respectively).

  • start_asap (bool) – start the controllers as soon as their hardware dependencies are ready, will wait for all interfaces to be ready otherwise.

  • timeout (float) – the timeout in seconds before aborting pending controllers. Zero for infinite.

  • max_retries (int) – number of retries to switch the controller.

Returns

true if the operation is successful.

Return type

bool

ros_controllers.start_controllers_srv(start_controllers, ns=None, strictness=1, start_asap=False, timeout=3.0) → bool[source]

Function to start controllers on the namespace.

Parameters

  • start_controllers (list of strings) – list of controllers to start

  • ns (string) – namespace

  • strictness (int) – strictness of the controller manager: BEST_EFFORT or STRICT (1 and 2, respectively).

  • start_asap (bool) – start the controllers as soon as their hardware dependencies are ready, will wait for all interfaces to be ready otherwise.

  • timeout (float) – the timeout in seconds before aborting pending controllers. Zero for infinite.

Returns

true if the operation is successful.

Return type

bool

ros_controllers.stop_controllers_srv(stop_controllers, ns=None, strictness=1, start_asap=False, timeout=3.0) → bool[source]

Function to start controllers on the namespace.

Parameters

  • stop_controllers (list of strings) – list of controllers to stop

  • ns (string) – namespace

  • strictness (int) – strictness of the controller manager: BEST_EFFORT or STRICT (1 and 2, respectively).

  • start_asap (bool) – start the controllers as soon as their hardware dependencies are ready, will wait for all interfaces to be ready otherwise.

  • timeout (float) – the timeout in seconds before aborting pending controllers. Zero for infinite.

Returns

true if the operation is successful.

Return type

bool

ros_controllers.reset_controllers_srv(reset_controllers, max_retries=10, ns=None, strictness=1, start_asap=False, timeout=3.0) → bool[source]

Function to reset controllers on the namespace.

Parameters

  • reset_controllers (list of strings) – list of controllers to reset

  • max_retries (int) – number of times to retry resetting a controller before giving up.

  • ns (string) – namespace

  • strictness (int) – strictness of the controller manager: BEST_EFFORT or STRICT (1 and 2, respectively).

  • start_asap (bool) – start the controllers as soon as their hardware dependencies are ready, will wait for all interfaces to be ready otherwise.

  • timeout (float) – the timeout in seconds before aborting pending controllers. Zero for infinite.

Returns

true if the operation is successful.

Return type

bool

ros_controllers.spawn_controllers_srv(spawn_controllers, ns=None, strictness=1, start_asap=False, timeout=3.0) → bool[source]

Function to spawn controllers on the namespace.

Parameters

  • spawn_controllers (list of strings) – list of controllers to spawn

  • ns (string) – namespace

  • strictness (int) – strictness of the controller manager: BEST_EFFORT or STRICT (1 and 2, respectively).

  • start_asap (bool) – start the controllers as soon as their hardware dependencies are ready, will wait for all interfaces to be ready otherwise.

  • timeout (float) – the timeout in seconds before aborting pending controllers. Zero for infinite.

Returns

true if the operation is successful.

Return type

bool

ros_controllers.kill_controllers_srv(kill_controllers, ns=None, strictness=1, start_asap=False, timeout=3.0) → bool[source]

Function to kill controllers on the namespace.

Parameters

  • kill_controllers (list of strings) – list of controllers to kill

  • ns (string) – namespace

  • strictness (int) – strictness of the controller manager: BEST_EFFORT or STRICT (1 and 2, respectively).

  • start_asap (bool) – start the controllers as soon as their hardware dependencies are ready, will wait for all interfaces to be ready otherwise.

  • timeout (float) – the timeout in seconds before aborting pending controllers. Zero for infinite.

Returns

true if the operation is successful.

Return type

bool