0.8.1

.travis.yml

@@ -1,37 +1,36 @@
-language:
-  - cpp
-  - python
+# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
+# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
+
+dist: xenial
+services:
+  - docker
+language: generic
 python:
   - "2.7"
 compiler:
   - gcc
 
+notifications:
+  email:
+    on_success: always
+    on_failure: always
+
+env:
+  matrix:
+    - ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu  USE_DEB=true
+    - ROS_DISTRO="kinetic"   PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=0
+
+matrix:
+  allow_failures:
+    - env: ROS_DISTRO="kinetic"   PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=0
+
 branches:
   only:
     - master
     - develop
 
 install:
-  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
-  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-  - sudo apt-get update -qq
-  - sudo apt-get install python-catkin-pkg python-rosdep ros-hydro-catkin -qq
-  - sudo rosdep init
-  - rosdep update
-  - mkdir -p /tmp/ws/src
-  - ln -s `pwd` /tmp/ws/src/package
-  - cd /tmp/ws
-  - rosdep install --from-paths src --ignore-src --rosdistro hydro -y
-  - sudo pip install ujson
-before_script:
-  - source /opt/ros/hydro/setup.bash
-  - catkin_make
-  - catkin_make install
-  - sudo apt-get install ros-hydro-rostest
-  - source devel/setup.bash
-  - export ROS_MASTER_URI=http://localhost:11311
-  - export ROS_HOSTNAME=localhost
+  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
+
 script:
-  - rostest rosbridge_library test_all.test
-  - sudo pip uninstall ujson -y -q
-  - rostest rosbridge_library test_all.test
+  - source .ci_config/travis.sh

rosapi/CHANGELOG.rst

@@ -2,6 +2,39 @@
 Changelog for package rosapi
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.1 (2017-08-30)
+------------------
+
+0.8.0 (2017-08-30)
+------------------
+* fix delete_param in rosapi (`#284 <https://github.com/RobotWebTools/rosbridge_suite/issues/284>`_)
+* Merge pull request `#276 <https://github.com/RobotWebTools/rosbridge_suite/issues/276>`_ from sevenbitbyte/DOCUMENT_GLOB
+  Document glob
+* Update README.md
+  Formatting and examples
+* Create README.md
+* Contributors: 7bit, Jihoon Lee
+
+0.7.17 (2017-01-25)
+-------------------
+* Added bug fix in rosapi
+* no rospy needed, just for debug logging
+* new service: get actionlib servers
+* adjust log level for security globs
+  Normal operation (i.e. no globs or successful verification of requests) is now silent, with illegal requests producing a warning.
+* correct default values for security globs
+  also accept empty list as the default "do not check globs" value in addition to None.
+  Finally, append rosapi service glob after processing command line input so it's not overwritten
+* Added services_glob to CallServices, added globs to rosbridge_tcp and rosbridge_udp, and other miscellanous fixes.
+* As per the suggestions of @T045T, fixed several typos, improved logging, and made some style fixes.
+* Fixed time object field definitions to match documentation.
+* Two minor fixes.
+* Added new parameters for topic and service security.
+  Added 3 new parameters to rosapi and rosbridge_server which filter the
+  topics, services, and parameters broadcast by the server to match an
+  array of glob strings.
+* Contributors: Devon Ash, Eric, Marco Arruda, Nils Berg
+
 0.7.16 (2016-08-15)
 -------------------
 * new srv: topics types and details

rosapi/CMakeLists.txt

@@ -12,6 +12,7 @@ add_message_files(
 add_service_files(
   FILES
   DeleteParam.srv
+  GetActionServers.srv
   GetParam.srv
   GetParamNames.srv
   GetTime.srv

rosapi/README.md

@@ -0,0 +1,29 @@
+rosapi
+===============
+
+#### Parameters
+
+ * `~topics_glob` (string, default '')
+ * `~services_glob` (string, default '')
+ * `~params_glob` (string, default '')
+
+ ```Note: By default the rosapi calls for details about topics, services, and parameters will return nothing. You must specify a list of allowed resources.```
+ Each of the glob parameters may contain an array of one or more match patterns. Resources that match any of the specified patterns will be returned by calls to the rosapi services.
+
+An example launch file which enables all information to be returned.
+
+```
+  <node name="rosapi" pkg="rosapi" type="rosapi_node">
+     <param name="topics_glob" value="[*]" />
+     <param name="services_glob" value="[*]" />
+     <param name="params_glob" value="[*]" />
+  </node>
+```
+
+
+This example launch file enables only rosout and certain camera topics
+```
+  <node name="rosapi" pkg="rosapi" type="rosapi_node">
+     <param name="topics_glob" value="[/rosout, /camera/rgb/*]" />
+  </node>
+```

rosapi/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rosapi</name>
-  <version>0.7.16</version>
+  <version>0.8.1</version>
   <description>
     Provides service calls for getting ros meta-information, like list of
     topics, services, params, etc.

rosapi/scripts/rosapi_node

@@ -37,6 +37,27 @@ from rosapi import proxy, objectutils, params
 from rosapi.srv import *
 from rosapi.msg import *
 
+topics_glob = []
+services_glob = []
+params_glob = []
+
+def get_globs():
+    global topics_glob
+    global services_glob
+    global params_glob
+    topics_glob = [
+        element.strip().strip("'")
+        for element in rospy.get_param('~topics_glob', '')[1:-1].split(',')
+        if len(element.strip().strip("'")) > 0]
+    services_glob = [
+        element.strip().strip("'")
+        for element in rospy.get_param('~services_glob', '')[1:-1].split(',')
+        if len(element.strip().strip("'")) > 0]
+    params_glob = [
+        element.strip().strip("'")
+        for element in rospy.get_param('~params_glob', '')[1:-1].split(',')
+        if len(element.strip().strip("'")) > 0]
+
 # Initialises the ROS node
 def register_services():
     rospy.Service('/rosapi/topics', Topics, get_topics)
@@ -45,6 +66,7 @@ def register_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/action_servers', GetActionServers, get_action_servers)
     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)
@@ -65,21 +87,22 @@ def register_services():
 
 def get_topics(request):
     """ Called by the rosapi/Topics service. Returns a list of all the topics being published. """
-    topics = proxy.get_topics()
-    types = proxy.get_topics_types(topics)
+    rospy.logdebug("List of allowed topic globs: "+str(topics_glob))
+    topics = proxy.get_topics(topics_glob)
+    types = proxy.get_topics_types(topics, topics_glob)
     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 """
-    return TopicsForTypeResponse(proxy.get_topics_for_type(request.type))
+    return TopicsForTypeResponse(proxy.get_topics_for_type(request.type, topics_glob))
 
 def get_services(request):
     """ Called by the rosapi/Services service. Returns a list of all the services being advertised. """
-    return ServicesResponse(proxy.get_services())
+    return ServicesResponse(proxy.get_services(services_glob))
 
 def get_services_for_type(request):
     """ Called by the rosapi/ServicesForType service. Returns a list of all the services that are publishing a given type """
-    return ServicesForTypeResponse(proxy.get_services_for_type(request.type))
+    return ServicesForTypeResponse(proxy.get_services_for_type(request.type, services_glob))
 
 def get_nodes(request):
     """ Called by the rosapi/Nodes service. Returns a list of all the nodes that are registered """
@@ -90,34 +113,39 @@ def get_node_details(request):
     node = request.node
     return NodeDetailsResponse(proxy.get_node_subscriptions(node), proxy.get_node_publications(node), proxy.get_node_services(node))
 
+def get_action_servers(request):
+    """ Called by the rosapi/GetActionServers service. Returns a list of action servers based on actions standard topics """
+    topics = proxy.get_topics(topics_glob)
+    action_servers = proxy.filter_action_servers(topics)
+    return GetActionServersResponse(action_servers)
 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)
     Response class has one field, 'type', which is a string value (the type of the topic)
     If the topic does not exist, an empty string is returned. """
-    return TopicTypeResponse(proxy.get_topic_type(request.topic))
+    return TopicTypeResponse(proxy.get_topic_type(request.topic, topics_glob))
 
 def get_service_type(request):
     """ Called by the rosapi/ServiceType service.  Given the name of a service, returns the type of that service
     Request class has one field, 'service', which is a string value (the name of the service)
     Response class has one field, 'type', which is a string value (the type of the service)
     If the service does not exist, an empty string is returned. """
-    return ServiceTypeResponse(proxy.get_service_type(request.service))
+    return ServiceTypeResponse(proxy.get_service_type(request.service, services_glob))
 
 def get_publishers(request):
     """ Called by the rosapi/Publishers service.  Given the name of a topic, returns a list of node names
     that are publishing on that topic. """
-    return PublishersResponse(proxy.get_publishers(request.topic))
+    return PublishersResponse(proxy.get_publishers(request.topic, topics_glob))
 
 def get_subscribers(request):
     """ Called by the rosapi/Subscribers service.  Given the name of a topic, returns a list of node names
     that are subscribing to that topic. """
-    return SubscribersResponse(proxy.get_subscribers(request.topic))
+    return SubscribersResponse(proxy.get_subscribers(request.topic, topics_glob))
 
 def get_service_providers(request):
     """ Called by the rosapi/ServiceProviders service.  Given the name of a topic, returns a list of node names
     that are advertising that service type """
-    return ServiceProvidersResponse(proxy.get_service_providers(request.service))
+    return ServiceProvidersResponse(proxy.get_service_providers(request.service, services_glob))
 
 def get_service_node(request):
     """ Called by the rosapi/ServiceNode service.  Given the name of a service, returns the name of the node
@@ -146,24 +174,24 @@ def get_service_response_details(request):
     return ServiceResponseDetailsResponse([dict_to_typedef(d) for d in objectutils.get_service_response_typedef_recursive(request.type)])
 
 def set_param(request):
-    rosapi.params.set_param(request.name, request.value)
+    rosapi.params.set_param(request.name, request.value, params_glob)
     return SetParamResponse()
 
 def get_param(request):
-    return GetParamResponse(rosapi.params.get_param(request.name, request.default))
+    return GetParamResponse(rosapi.params.get_param(request.name, request.default, params_glob))
 
 def has_param(request):
-    return HasParamResponse(rosapi.params.has_param(request.name))
+    return HasParamResponse(rosapi.params.has_param(request.name, params_glob))
 
 def search_param(request):
-    return SearchParamResponse(rosapi.params.search_param(request.name))
+    return SearchParamResponse(rosapi.params.search_param(request.name, params_glob))
 
 def delete_param(request):
-    rosapi.params.delete_param(request.name)
+    rosapi.params.delete_param(request.name, params_glob)
     return DeleteParamResponse()
 
 def get_param_names(request):
-    return GetParamNamesResponse(rosapi.params.get_param_names())
+    return GetParamNamesResponse(rosapi.params.get_param_names(params_glob))
 
 def get_time(request):
     return GetTimeResponse(rospy.get_rostime())
@@ -180,8 +208,9 @@ def dict_to_typedef(typedefdict):
 if __name__ == '__main__':
      try:
          rospy.init_node('rosapi_node')
+         get_globs()
          register_services()
          rospy.loginfo("Rosapi started")
          rospy.spin()
      except rospy.ROSInterruptException: 
-         pass
+         pass

rosapi/src/rosapi/objectutils.py

@@ -149,7 +149,7 @@ def _get_special_typedef(type):
     if type=="time" or type=="duration":
         example = {
             "type": type,
-            "fieldnames": ["sec", "nsec"],
+            "fieldnames": ["secs", "nsecs"],
             "fieldtypes": ["int32", "int32"],
             "fieldarraylen": [-1, -1],
             "examples": [ "0", "0" ]