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type.py
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/
type.py
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# Copyright 2019 Canonical Ltd.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ros2cli.node.strategy import NodeStrategy
from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
from ros2topic.api import get_topic_names_and_types
from ros2topic.api import TopicNameCompleter
from ros2topic.verb import VerbExtension
class TypeVerb(VerbExtension):
"""Print a topic's type."""
def add_arguments(self, parser, cli_name):
add_strategy_node_arguments(parser)
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to get type (e.g. '/chatter')")
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')
def main(self, *, args):
with NodeStrategy(args) as node:
topic_names_and_types = get_topic_names_and_types(
node=node,
include_hidden_topics=args.include_hidden_topics)
for (topic_name, topic_types) in topic_names_and_types:
if args.topic_name == topic_name:
for topic_type in topic_types:
print(topic_type)
return 0
return 1