Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Enhanced ros2 topic info to display node name, node namespace, topic type and qos profile of the publishers and subscribers. #385

Merged
merged 10 commits into from
Feb 27, 2020
Merged

Enhanced ros2 topic info to display node name, node namespace, topic type and qos profile of the publishers and subscribers. #385

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
adc7573
Enhanced ros2 topic info to display node name, node namespace,
jaisontj Oct 24, 2019
1c84126
Added a --verbose flag to display the additional details and error
jaisontj Nov 14, 2019
8719059
Modified print of gid since it is no longer a string and is now an array
jaisontj Nov 23, 2019
d7f9f1e
Modified output of gid to use hexadecimals.
jaisontj Nov 26, 2019
82ccf71
address PR comments
mm318 Dec 19, 2019
73caa5c
fix pre-existing unit test failures
mm318 Dec 31, 2019
4522188
add test_info_topic_verbose()
mm318 Dec 31, 2019
3906022
rename *topic_info* to *topic_endpoint_info*
mm318 Jan 10, 2020
2efa973
make use of TopicEndpointInfo objects
mm318 Jan 24, 2020
4c6eaec
rename variable to from lineend to line_end
mm318 Feb 14, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
31 changes: 28 additions & 3 deletions ros2topic/ros2topic/verb/info.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,12 @@ def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'topic_name',
help="Name of the ROS topic to get info (e.g. '/chatter')")
parser.add_argument(
'--verbose',
'-v',
action='store_true',
help='Prints detailed information like the node name, node namespace, topic type, '
'GUID and QoS Profile of the publishers and subscribers to this topic')
arg.completer = TopicNameCompleter(
include_hidden_topics_key='include_hidden_topics')

Expand All @@ -39,7 +45,26 @@ def main(self, *, args):
break
else:
return "Unknown topic '%s'" % topic_name

line_end = '\n'
if args.verbose:
line_end = '\n\n'

type_str = topic_types[0] if len(topic_types) == 1 else topic_types
print('Type: %s' % type_str)
print('Publisher count: %d' % node.count_publishers(topic_name))
print('Subscriber count: %d' % node.count_subscribers(topic_name))
print('Type: %s' % type_str, end=line_end)

print('Publisher count: %d' % node.count_publishers(topic_name), end=line_end)
if args.verbose:
try:
for info in node.get_publishers_info_by_topic(topic_name):
print(info, end=line_end)
except NotImplementedError as e:
return str(e)

print('Subscription count: %d' % node.count_subscribers(topic_name))
if args.verbose:
try:
for info in node.get_subscriptions_info_by_topic(topic_name):
print(info, end=line_end)
except NotImplementedError as e:
return str(e)
40 changes: 35 additions & 5 deletions ros2topic/test/test_cli.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -256,15 +256,45 @@ def test_list_count(self):
assert int(output_lines[0]) == 9

@launch_testing.markers.retry_on_failure(times=5)
def test_topic_info(self):
def test_topic_endpoint_info(self):
with self.launch_topic_command(arguments=['info', '/chatter']) as topic_command:
assert topic_command.wait_for_shutdown(timeout=10)
assert topic_command.exit_code == launch_testing.asserts.EXIT_OK
assert launch_testing.tools.expect_output(
expected_lines=[
'Type: std_msgs/msg/String',
'Publisher count: 1',
'Subscriber count: 0'
'Subscription count: 0'
],
text=topic_command.output,
strict=True
)

@launch_testing.markers.retry_on_failure(times=5)
def test_topic_endpoint_info_verbose(self):
with self.launch_topic_command(arguments=['info', '-v', '/chatter']) as topic_command:
assert topic_command.wait_for_shutdown(timeout=10)
assert topic_command.exit_code == launch_testing.asserts.EXIT_OK
assert launch_testing.tools.expect_output(
expected_lines=[
'Type: std_msgs/msg/String',
'',
'Publisher count: 1',
'',
re.compile(r'Node name: \w+'),
'Node namespace: /',
'Topic type: std_msgs/msg/String',
re.compile(r'Endpoint type: (INVALID|PUBLISHER|SUBSCRIPTION)'),
re.compile(r'GID: [\w\.]+'),
'QoS profile:',
re.compile(r' Reliability: RMW_QOS_POLICY_RELIABILITY_\w+'),
re.compile(r' Durability: RMW_QOS_POLICY_DURABILITY_\w+'),
re.compile(r' Lifespan: \d+ nanoseconds'),
re.compile(r' Deadline: \d+ nanoseconds'),
re.compile(r' Liveliness: RMW_QOS_POLICY_LIVELINESS_\w+'),
re.compile(r' Liveliness lease duration: \d+ nanoseconds'),
'',
'Subscription count: 0'
],
text=topic_command.output,
strict=True
Expand Down Expand Up @@ -517,7 +547,7 @@ def test_topic_pub(self):
), timeout=10)
assert self.listener_node.wait_for_output(functools.partial(
launch_testing.tools.expect_output, expected_lines=[
re.compile(r'\[INFO\] \[\d+.\d*\] \[listener\]: I heard: \[foo\]')
re.compile(r'\[INFO\] \[\d+\.\d*\] \[listener\]: I heard: \[foo\]')
] * 3, strict=False
), timeout=10)
assert topic_command.wait_for_shutdown(timeout=10)
Expand All @@ -541,7 +571,7 @@ def test_topic_pub_once(self):
assert topic_command.wait_for_shutdown(timeout=10)
assert self.listener_node.wait_for_output(functools.partial(
launch_testing.tools.expect_output, expected_lines=[
re.compile(r'\[INFO\] \[\d+.\d*\] \[listener\]: I heard: \[bar\]')
re.compile(r'\[INFO\] \[\d+\.\d*\] \[listener\]: I heard: \[bar\]')
], strict=False
), timeout=10)
assert topic_command.exit_code == launch_testing.asserts.EXIT_OK
Expand All @@ -567,7 +597,7 @@ def test_topic_pub_print_every_two(self):
), timeout=10), 'Output does not match: ' + topic_command.output
assert self.listener_node.wait_for_output(functools.partial(
launch_testing.tools.expect_output, expected_lines=[
re.compile(r'\[INFO\] \[\d+.\d*\] \[listener\]: I heard: \[fizz\]')
re.compile(r'\[INFO\] \[\d+\.\d*\] \[listener\]: I heard: \[fizz\]')
], strict=False
), timeout=10)
assert topic_command.wait_for_shutdown(timeout=10)
Expand Down