rosh overview: Roshlets | Basics | Messages | Parameters | Topics | Services | Nodes | Topic Tools | Packages | Bags | Bagys | roslaunch

Packages

The packages object gives you access to metadata about your installed ROS packages. Each of the Package objects has a variety of useful information, similar to what you might find with the rospack command. The API of the Package object is described below.

package.depends1

• Immediate dependencies of the package.

package.manifest

• Manifest information from package. This is roslib.manifest.Manifest object.

package.msg

• Msgs within package. package_name.msg is equivalent to msg.package_name. You can use this to instantiate msg types, e.g.

  packages.std_msgs.msg.Bool()

package.srv

• Srvs within package. package_name.srv is equivalent to srv.package_name. You can use this to instantiate srv types.

  packages.std_srvs.srv.Empty()

package.path

• Filesystem location of where package is located.

package.nodes

• Executable nodes within the package. Nodes can be run using the launch function:

  launch(packages.face_detector.nodes.face_detector)

• or by calling them:

  packages.face_detector.nodes.face_detector()

• Topics can be remapped for nodes using keyword arguments:

  packages.image_view.nodes.image_view(image='webcam/image_raw')

packages.launches

• Launch files within the package. Launch files can be run using the launch function:

  launch(packages.face_detector.launches.face_detector_rgbd_launch)

Example

In [1]: packages.rospy.depends1.roslib.manifest.license
Out[1]: u'BSD'

Stacks

The stacks object gives you access to metadata about your installed ROS stacks. Each of the Stack objects has a variety of useful information, similar to what you might find with the rosstack command. The API of the Stack object is described below.

stack.packages

• Packages within stack.

stack.depends1

• Immediate dependencies of the stack.

stack.manifest

• Manifest information from stack. This is roslib.manifest.Manifest object.

stack.path

• Filesystem location of where stack is located.

Example

In [1]: stacks.visualization.depends1.geometry.path
Out[1]: '/Users/kwc/ros-pkg/geometry'
In [3]: stacks.visualization.packages.rviz.depends1.tf.name
Out[3]: 'tf'