Merge pull request #236 from RobotWebTools/develop

0.7.16

.gitignore

@@ -1,5 +1,6 @@
 *.pyc
 *.iml
+*.swp
 .project
 .pydevproject
 .DS_Store

rosapi/CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package rosapi
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.16 (2016-08-15)
+-------------------
+* new srv: topics types and details
+* Contributors: Marco Arruda
+
+0.7.15 (2016-04-25)
+-------------------
+* changelog updated
+* Contributors: Russell Toris
+
 0.7.14 (2016-02-11)
 -------------------
 * Update proxy.py

rosapi/CMakeLists.txt

@@ -18,6 +18,7 @@ add_service_files(
   HasParam.srv
   MessageDetails.srv
   Nodes.srv
+  NodeDetails.srv
   Publishers.srv
   SearchParam.srv
   ServiceHost.srv
@@ -46,4 +47,3 @@ catkin_package(
 install(PROGRAMS scripts/rosapi_node
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
-

rosapi/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rosapi</name>
-  <version>0.7.14</version>
+  <version>0.7.16</version>
   <description>
     Provides service calls for getting ros meta-information, like list of
     topics, services, params, etc.

rosapi/scripts/rosapi_node

@@ -44,6 +44,7 @@ def register_services():
     rospy.Service('/rosapi/services', Services, get_services)
     rospy.Service('/rosapi/services_for_type', ServicesForType, get_services_for_type)
     rospy.Service('/rosapi/nodes', Nodes, get_nodes)
+    rospy.Service('/rosapi/node_details', NodeDetails, get_node_details)
     rospy.Service('/rosapi/topic_type', TopicType, get_topic_type)
     rospy.Service('/rosapi/service_type', ServiceType, get_service_type)
     rospy.Service('/rosapi/publishers', Publishers, get_publishers)
@@ -64,7 +65,9 @@ def register_services():
 
 def get_topics(request):
     """ Called by the rosapi/Topics service. Returns a list of all the topics being published. """
-    return TopicsResponse(proxy.get_topics())
+    topics = proxy.get_topics()
+    types = proxy.get_topics_types(topics)
+    return TopicsResponse(topics, types)
 
 def get_topics_for_type(request):
     """ Called by the rosapi/TopicsForType service. Returns a list of all the topics that are publishing a given type """
@@ -82,6 +85,11 @@ def get_nodes(request):
     """ Called by the rosapi/Nodes service. Returns a list of all the nodes that are registered """
     return NodesResponse(proxy.get_nodes())
 
+def get_node_details(request):
+    """ Called by the rosapi/Nodes service. Returns a node description """
+    node = request.node
+    return NodeDetailsResponse(proxy.get_node_subscriptions(node), proxy.get_node_publications(node), proxy.get_node_services(node))
+
 def get_topic_type(request):
     """ Called by the rosapi/TopicType service.  Given the name of a topic, returns the name of the type of that topic.
     Request class has one field, 'topic', which is a string value (the name of the topic)
@@ -124,7 +132,8 @@ def get_service_host(request):
 def get_message_details(request):
     """ Called by the rosapi/MessageDetails service.  Given the name of a message type, returns the TypeDef
     for that type."""
-    return MessageDetailsResponse([dict_to_typedef(d) for d in objectutils.get_typedef_recursive(request.type)])
+    typedefs = [dict_to_typedef(d) for d in objectutils.get_typedef_recursive(request.type)]
+    return MessageDetailsResponse(typedefs)
 
 def get_service_request_details(request):
     """ Called by the rosapi/ServiceRequestDetails service. Given the name of a service type, returns the TypeDef
@@ -175,4 +184,4 @@ if __name__ == '__main__':
          rospy.loginfo("Rosapi started")
          rospy.spin()
      except rospy.ROSInterruptException: 
-         pass
+         pass

rosapi/src/rosapi/objectutils.py

@@ -199,5 +199,5 @@ def _type_name(type, instance):
 def _type_name_from_instance(instance):
     mod = instance.__module__
     type = mod[0:find(mod, '.')]+"/"+instance.__class__.__name__
-    return type   
+    return type 
 

rosapi/src/rosapi/proxy.py

@@ -53,6 +53,15 @@ def get_topics():
     except:
         return []
 
+def get_topics_types(topics):
+    try:
+        types = []
+        for i in topics:
+            types.append(get_topic_type(i))
+        return types
+    except:
+        return[]
+
 
 def get_topics_for_type(type):
     return find_by_type(type)
@@ -72,6 +81,44 @@ def get_nodes():
     """ Returns a list of all the nodes registered in the ROS system """
     return rosnode.get_node_names()
 
+def get_node_publications(node):
+    """ Returns a list of topic names that are been published by the specified node """
+    try:
+      publishers, subscribers, services = Master('/rosbridge').getSystemState()
+      toReturn = []
+      for i,v in publishers:
+        if node in v:
+          toReturn.append(i)
+      toReturn.sort()
+      return toReturn
+    except socket.error:
+      return []
+
+def get_node_subscriptions(node):
+    """ Returns a list of topic names that are been subscribed by the specified node """
+    try:
+      publishers, subscribers, services = Master('/rosbridge').getSystemState()
+      toReturn = []
+      for i,v in subscribers:
+        if node in v:
+          toReturn.append(i)
+      toReturn.sort()
+      return toReturn
+    except socket.error:
+      return []
+
+def get_node_services(node):
+    """ Returns a list of service names that are been hosted by the specified node """
+    try:
+      publishers, subscribers, services = Master('/rosbridge').getSystemState()
+      toReturn = []
+      for i,v in services:
+        if node in v:
+          toReturn.append(i)
+      toReturn.sort()
+      return toReturn
+    except socket.error:
+      return []
 
 def get_topic_type(topic):
     """ Returns the type of the specified ROS topic """
@@ -146,4 +193,4 @@ def get_service_host(service):
     else:
         uri = uri[9:]
         uri = uri[:uri.find(':')]
-    return uri
+    return uri

rosapi/srv/NodeDetails.srv

@@ -0,0 +1,5 @@
+string node
+---
+string[] subscribing
+string[] publishing
+string[] services

rosapi/srv/Topics.srv

@@ -1,3 +1,4 @@
 
 ---
-string[] topics
+string[] topics
+string[] types

rosbridge_library/CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package rosbridge_library
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.16 (2016-08-15)
+-------------------
+* Fixed deprecated code in pillow
+* Contributors: vladrotea
+
+0.7.15 (2016-04-25)
+-------------------
+* changelog updated
+* Contributors: Russell Toris
+
 0.7.14 (2016-02-11)
 -------------------
 * Another fix for code

rosbridge_library/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rosbridge_library</name>
-  <version>0.7.14</version>
+  <version>0.7.16</version>
   <description>
     The core rosbridge package, repsonsible for interpreting JSON andperforming
     the appropriate ROS action, like subscribe, publish, call service, and

rosbridge_library/src/rosbridge_library/internal/pngcompression.py

@@ -45,7 +45,7 @@ def encode(string):
     while length < bytes_needed:
         string += '\n'
         length += 1
-    i = Image.fromstring('RGB', (int(width), int(height)), string)
+    i = Image.frombytes('RGB', (int(width), int(height)), string)
     buff = StringIO()
     i.save(buff, "png")
     encoded = standard_b64encode(buff.getvalue())

rosbridge_server/CHANGELOG.rst

@@ -2,6 +2,20 @@
 Changelog for package rosbridge_server
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.16 (2016-08-15)
+-------------------
+
+0.7.15 (2016-04-25)
+-------------------
+* Track Twisted run_depend
+  Fixes `#218 <https://github.com/RobotWebTools/rosbridge_suite/issues/218>`_
+* Add rosbridge_udp cmake install rule `#225 <https://github.com/RobotWebTools/rosbridge_suite/issues/225>`_
+* Stop UDP server on ROS shutdown
+* changelog updated
+* Track Twisted run_depend
+  Fixes `#218 <https://github.com/RobotWebTools/rosbridge_suite/issues/218>`_
+* Contributors: Jihoon Lee, Matt Vollrath, Russell Toris
+
 0.7.14 (2016-02-11)
 -------------------
 * Abort websocket server listen() retry on shutdown

rosbridge_server/CMakeLists.txt

@@ -12,12 +12,15 @@ install(PROGRAMS
   scripts/rosbridge_websocket
   scripts/rosbridge_tcp.py
   scripts/rosbridge_tcp
+  scripts/rosbridge_udp
+  scripts/rosbridge_udp.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
 install(FILES
   launch/rosbridge_websocket.launch
   launch/rosbridge_tcp.launch
+  launch/rosbridge_udp.launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
 )
 

rosbridge_server/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rosbridge_server</name>
-  <version>0.7.14</version>
+  <version>0.7.16</version>
   <description>A WebSocket interface to rosbridge.</description>
 
   <license>BSD</license>
@@ -18,6 +18,7 @@
   <build_depend>rosbridge_library</build_depend>
   <build_depend>rosapi</build_depend>
   <build_depend>rospy</build_depend>
+  <run_depend>python-twisted-core</run_depend>
   <run_depend>rosbridge_library</run_depend>
   <run_depend>rosapi</run_depend>
   <run_depend>rospy</run_depend>

rosbridge_server/scripts/rosbridge_udp.py

@@ -38,7 +38,7 @@
 from twisted.internet import reactor
 from rosbridge_server import RosbridgeUdpSocket,RosbridgeUdpFactory
 def shutdown_hook():
-    pass
+    reactor.stop()
 if __name__ == "__main__":
     rospy.init_node("rosbridge_websocket")
     rospy.on_shutdown(shutdown_hook)    # register shutdown hook to stop the server

rosbridge_suite/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package rosbridge_suite
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.16 (2016-08-15)
+-------------------
+
+0.7.15 (2016-04-25)
+-------------------
+* changelog updated
+* Contributors: Russell Toris
+
 0.7.14 (2016-02-11)
 -------------------
 

rosbridge_suite/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rosbridge_suite</name>
-  <version>0.7.14</version>
+  <version>0.7.16</version>
   <description>
     Rosbridge provides a JSON API to ROS functionality for non-ROS programs.
     There are a variety of front ends that interface with rosbridge, including