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https://github.com/gramaziokohler/roslibpy

Python ROS Bridge library
https://github.com/gramaziokohler/roslibpy

python robotics ros

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Python ROS Bridge library

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README 

        
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roslibpy: ROS Bridge library

============================



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**Python ROS Bridge library** allows to use Python and IronPython to interact

with `ROS `_, the open-source robotic middleware.

It uses WebSockets to connect to

`rosbridge 2.0 `_ and provides publishing,

subscribing, service calls, actionlib, TF, and other essential ROS functionality.



Unlike the `rospy `_ library, this does not require a

local ROS environment, allowing usage from platforms other than Linux.



The API of **roslibpy** is modeled to closely match that of `roslibjs`_.



ROS1 is fully supported. ROS2 support is still in progress.



Main features

-------------



* Topic publishing and subscribing.

* Service calls (client).

* Service advertisement (server).

* ROS parameter management (get/set/delete).

* ROS API services for getting ROS meta-information.

* Actionlib support for interfacing with preemptable tasks.

* TF Client via the ``tf2_web_republisher``.



**Roslibpy** runs on Python 3.x and IronPython 2.7.



Installation

------------



To install **roslibpy**, simply use ``pip``::



    pip install roslibpy



For IronPython, the ``pip`` command is slightly different::



    ipy -X:Frames -m pip install --user roslibpy



Remember that you will need a working ROS setup including the

**rosbridge server** and **TF2 web republisher** accessible within your network.



Documentation

-------------



The full documentation, including examples and API reference

is available on `readthedocs `_.



Contributing

------------



Make sure you setup your local development environment correctly:



* Clone the `roslibpy `_ repository.

* Create a virtual environment.

* Install development dependencies:



::



    pip install -r requirements-dev.txt



**You're ready to start coding!**



During development, use `pyinvoke `_ tasks on the

command prompt to ease recurring operations:



* ``invoke clean``: Clean all generated artifacts.

* ``invoke check``: Run various code and documentation style checks.

* ``invoke docs``: Generate documentation.

* ``invoke test``: Run all tests and checks in one swift command.

* ``invoke``: Show available tasks.



For more details, check the *Contributor's Guide* available as part of `the documentation `_.



The default branch was recently renamed to `main`. If you've already cloned this repository,

you'll need to update your local repository structure with the following lines:



::



    git branch -m master main

    git fetch origin

    git branch -u origin/main main



Releasing this project

----------------------



Ready to release a new version **roslibpy**? Here's how to do it:



* We use `semver `_, i.e. we bump versions as follows:



  * ``patch``: bugfixes.

  * ``minor``: backwards-compatible features added.

  * ``major``: backwards-incompatible changes.



* Update the ``CHANGELOG.rst`` with all novelty!

* Ready? Release everything in one command:



::



    invoke release [patch|minor|major]



* Profit!



Credits

-------



This library is based on `roslibjs`_ and to a

large extent, it is a line-by-line port to Python, changing only where a more

idiomatic form makes sense, so a huge part of the credit goes to the

`roslibjs authors `_.



.. _roslibjs: http://wiki.ros.org/roslibjs