ctu.nengoros.comm.rosutils

Class RosUtils

java.lang.Object

ctu.nengoros.comm.rosutils.RosUtils

public class RosUtils
extends java.lang.Object

Here are utilities for simple launching and stopping (some) roscore and rqt utility, if available. -UtilsAutorun says whether to start anything from this -these situations can occur: -rqt and c++ roscore found, so they will be used -rqt and c++ roscore found, but jroscore is preffered: running jroscore+rqt -ROS installation not foud, running just jroscore

See Also:

ROS wiki, ROSjava documentation

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	me
static boolean	nodesShouldStop

Constructor Summary

Constructors

Constructor and Description
RosUtils()

Method Summary

Methods

Modifier and Type	Method and Description
static void	addGroup(NodeGroup g) RosUtils should remember all currently running groups in order to be able to stop them if necessary.
static boolean	autorun()
static boolean	coreRunning()
static int	getNumOfGroups()
static RosTimeUtil	getTimeUtil()
static void	prefferJroscore(boolean prefer) if C++ roscore found, which one prefer?
static void	removeGroup(NodeGroup g)
static boolean	rqtRunning()
static void	setAutorun(boolean autorun) Start core and other utilities automatically?
static void	setRqtAutorun(boolean autorun) Should the RQT start automatically?
static void	setTimeIgnore()
static void	setTimeMaster() sets the NengoROS as a time master (selected by default).
static void	setTimeSlave()
static void	stopAllNodes()
static void	utilsShallStart() By default, if any ROS node is launched, this is called and tries to launch ROS Core, RQT, TimeMaster and ParamServer.
static void	utilsShallStop() When the Nengo application stops, do this:

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

nodesShouldStop

public static boolean nodesShouldStop

me

public static final java.lang.String me

See Also:

Constant Field Values

Constructor Detail

RosUtils

public RosUtils()

Method Detail

setAutorun

public static void setAutorun(boolean autorun)

Start core and other utilities automatically?

Parameters:

autorun -

autorun

public static boolean autorun()

utilsShallStart

public static void utilsShallStart()

By default, if any ROS node is launched, this is called and tries to launch ROS Core, RQT, TimeMaster and ParamServer. THese should be launched only once and terminated when the Nengo app exits.

setTimeMaster

public static void setTimeMaster()

sets the NengoROS as a time master (selected by default). Use these in python scripts.

setTimeSlave

public static void setTimeSlave()

setTimeIgnore

public static void setTimeIgnore()

stopAllNodes

public static void stopAllNodes()

addGroup

public static void addGroup(NodeGroup g)

RosUtils should remember all currently running groups in order to be able to stop them if necessary.

Parameters:

g -

removeGroup

public static void removeGroup(NodeGroup g)

getNumOfGroups

public static int getNumOfGroups()

utilsShallStop

public static void utilsShallStop()

When the Nengo application stops, do this:

prefferJroscore

public static void prefferJroscore(boolean prefer)

if C++ roscore found, which one prefer?

Parameters:

prefer -

setRqtAutorun

public static void setRqtAutorun(boolean autorun)

Should the RQT start automatically?

Parameters:

autorun -

rqtRunning

public static boolean rqtRunning()

coreRunning

public static boolean coreRunning()

getTimeUtil

public static RosTimeUtil getTimeUtil()