simROS2 Plugin API reference

This plugin provides an interface with the ROS2 API

simROS2.actionClientTreatUInt8ArrayAsString
simROS2.actionServerActionAbort
simROS2.actionServerActionCanceled
simROS2.actionServerActionExecute
simROS2.actionServerActionIsActive
simROS2.actionServerActionIsCanceling
simROS2.actionServerActionIsExecuting
simROS2.actionServerActionSucceed
simROS2.actionServerPublishFeedback
simROS2.actionServerTreatUInt8ArrayAsString
simROS2.call
simROS2.cancelLastGoal
simROS2.clientTreatUInt8ArrayAsString
simROS2.createActionClient
simROS2.createActionServer
simROS2.createClient
simROS2.createInterface
simROS2.createPublisher
simROS2.createService
simROS2.createSubscription
simROS2.deleteParam
simROS2.getInterfaceConstants
simROS2.getParamBool
simROS2.getParamDouble
simROS2.getParamInt
simROS2.getParamString
simROS2.getSimulationTime
simROS2.getSystemTime
simROS2.getTime
simROS2.hasParam
simROS2.imageTransportCreatePublisher
simROS2.imageTransportCreateSubscription
simROS2.imageTransportPublish
simROS2.imageTransportShutdownPublisher
simROS2.imageTransportShutdownSubscription
simROS2.importInterface
simROS2.publish
simROS2.publisherTreatUInt8ArrayAsString
simROS2.sendGoal
simROS2.sendTransform
simROS2.sendTransforms
simROS2.serviceTreatUInt8ArrayAsString
simROS2.setParamBool
simROS2.setParamDouble
simROS2.setParamInt
simROS2.setParamString
simROS2.shutdownActionClient
simROS2.shutdownActionServer
simROS2.shutdownClient
simROS2.shutdownPublisher
simROS2.shutdownService
simROS2.shutdownSubscription
simROS2.subscriptionTreatUInt8ArrayAsString
simROS2.supportedInterfaces
simROS2.timeFromFloat
simROS2.timeToFloat
simROS2.waitForService

simROS2.actionClientTreatUInt8ArrayAsString

Description After calling this function, this action client will treat uint8 arrays as string. Using strings should be in general much faster that using int arrays in Lua.
Lua synopsis simROS2.actionClientTreatUInt8ArrayAsString(string actionClientHandle)
Lua parameters
actionClientHandle (string): the action client handle
Lua return values -
Python synopsis simROS2.actionClientTreatUInt8ArrayAsString(string actionClientHandle)
See also simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.actionServerActionAbort

Description Indicate that a goal could not be reached and has been aborted. Only call this if the goal was executing but cannot be completed. This is a terminal state, no more methods should be called on a goal after this is called.
Lua synopsis simROS2.actionServerActionAbort(string actionServerHandle, string goalUUID, table result)
Lua parameters
actionServerHandle (string): the action server handle
goalUUID (string): the goal unique identifier
result (table): the result message
Lua return values -
Python synopsis simROS2.actionServerActionAbort(string actionServerHandle, string goalUUID, list result)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.actionServerActionCanceled

Description Indicate that a goal has been canceled. Only call this if the goal is executing or pending, but has been canceled. This is a terminal state, no more methods should be called on a goal after this is called.
Lua synopsis simROS2.actionServerActionCanceled(string actionServerHandle, string goalUUID, table result)
Lua parameters
actionServerHandle (string): the action server handle
goalUUID (string): the goal unique identifier
result (table): the result message
Lua return values -
Python synopsis simROS2.actionServerActionCanceled(string actionServerHandle, string goalUUID, list result)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.actionServerActionExecute

Description Indicate that the server is starting to execute a goal. Only call this if the goal is pending.
Lua synopsis simROS2.actionServerActionExecute(string actionServerHandle, string goalUUID)
Lua parameters
actionServerHandle (string): the action server handle
goalUUID (string): the goal unique identifier
Lua return values -
Python synopsis simROS2.actionServerActionExecute(string actionServerHandle, string goalUUID)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.actionServerActionIsActive

Description Check if goal is pending or executing
Lua synopsis bool result=simROS2.actionServerActionIsActive(string actionServerHandle, string goalUUID)
Lua parameters
actionServerHandle (string): the action server handle
goalUUID (string): the goal unique identifier
Lua return values
result (bool): false if the goal has reached a terminal state
Python synopsis bool result=simROS2.actionServerActionIsActive(string actionServerHandle, string goalUUID)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.actionServerActionIsCanceling

Description Check if there is a cancel request
Lua synopsis bool result=simROS2.actionServerActionIsCanceling(string actionServerHandle, string goalUUID)
Lua parameters
actionServerHandle (string): the action server handle
goalUUID (string): the goal unique identifier
Lua return values
result (bool): true if a cancelation request has been accepted for this goal
Python synopsis bool result=simROS2.actionServerActionIsCanceling(string actionServerHandle, string goalUUID)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.actionServerActionIsExecuting

Description Check if the goal is executing
Lua synopsis bool result=simROS2.actionServerActionIsExecuting(string actionServerHandle, string goalUUID)
Lua parameters
actionServerHandle (string): the action server handle
goalUUID (string): the goal unique identifier
Lua return values
result (bool): true if the goal is in an executing state
Python synopsis bool result=simROS2.actionServerActionIsExecuting(string actionServerHandle, string goalUUID)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.actionServerActionSucceed

Description Indicate that a goal has succeeded. Only call this if the goal is executing and has reached the desired final state. This is a terminal state, no more methods should be called on a goal after this is called.
Lua synopsis simROS2.actionServerActionSucceed(string actionServerHandle, string goalUUID, table result)
Lua parameters
actionServerHandle (string): the action server handle
goalUUID (string): the goal unique identifier
result (table): the result message
Lua return values -
Python synopsis simROS2.actionServerActionSucceed(string actionServerHandle, string goalUUID, list result)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.actionServerPublishFeedback

Description Send an update about the progress of this goal. This must be only called when the goal is executing. If execution of a goal is deferred then simROS2.actionServerActionExecute must be called first.
Lua synopsis simROS2.actionServerPublishFeedback(string actionServerHandle, string goalUUID, table feedback)
Lua parameters
actionServerHandle (string): the action server handle
goalUUID (string): the goal unique identifier
feedback (table): the feedback message
Lua return values -
Python synopsis simROS2.actionServerPublishFeedback(string actionServerHandle, string goalUUID, list feedback)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.actionServerTreatUInt8ArrayAsString

Description After calling this function, this action server will treat uint8 arrays as string. Using strings should be in general much faster that using int arrays in Lua.
Lua synopsis simROS2.actionServerTreatUInt8ArrayAsString(string actionServerHandle)
Lua parameters
actionServerHandle (string): the action server handle
Lua return values -
Python synopsis simROS2.actionServerTreatUInt8ArrayAsString(string actionServerHandle)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.call

Description Call the service associated with this service client.
Lua synopsis table result=simROS2.call(string clientHandle, table request)
Lua parameters
clientHandle (string): the service client handle
request (table): the message to publish
Lua return values
result (table): the response message, if the call succeeded
Python synopsis list result=simROS2.call(string clientHandle, list request)
See also simROS2.clientTreatUInt8ArrayAsString simROS2.createClient simROS2.createInterface simROS2.createService simROS2.getInterfaceConstants simROS2.serviceTreatUInt8ArrayAsString simROS2.shutdownClient simROS2.shutdownService simROS2.supportedInterfaces simROS2.waitForService

simROS2.cancelLastGoal

Description Cancel last submitted goal on the specified action client.
Lua synopsis bool success=simROS2.cancelLastGoal(string actionClientHandle)
Lua parameters
actionClientHandle (string): the action client handle
Lua return values
success (bool): false if canceling the goal to the action server has failed
Python synopsis bool success=simROS2.cancelLastGoal(string actionClientHandle)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.clientTreatUInt8ArrayAsString

Description After calling this function, this service client will treat uint8 arrays as string. Using strings should be in general much faster that using int arrays in Lua.
Lua synopsis simROS2.clientTreatUInt8ArrayAsString(string clientHandle)
Lua parameters
clientHandle (string): the service client handle
Lua return values -
Python synopsis simROS2.clientTreatUInt8ArrayAsString(string clientHandle)
See also simROS2.call simROS2.createClient simROS2.createInterface simROS2.createService simROS2.getInterfaceConstants simROS2.serviceTreatUInt8ArrayAsString simROS2.shutdownClient simROS2.shutdownService simROS2.supportedInterfaces simROS2.waitForService

simROS2.createActionClient

Description Create a action client.
Lua synopsis string actionClientHandle=simROS2.createActionClient(string actionName, string actionType, func goalResponseCallback, func feedbackCallback, func resultCallback)
Lua parameters
actionName (string): action name, e.g.: '/fibonacci'
actionType (string): action type, e.g.: 'example_interfaces/action/Fibonacci'
goalResponseCallback (func): the goal response callback, will be called with arguments (goal_id,accepted) where accepted is a boolean value
feedbackCallback (func): the feedback callback, will be called with arguments (goal_id,feedback) where feedback is a table representing the Feedback message of the action type
resultCallback (func): the result callback, will be called with arguments (goal_id,code,result) where code is a value from simROS2.action_result_code, and result is a table representing the Result message of the action type
Lua return values
actionClientHandle (string): a handle to the ROS action client
Python synopsis string actionClientHandle=simROS2.createActionClient(string actionName, string actionType, func goalResponseCallback, func feedbackCallback, func resultCallback)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.createActionServer

Description Create an action server.
Lua synopsis string actionServerHandle=simROS2.createActionServer(string actionName, string actionType, func handleGoalCallback, func handleCancelCallback, func handleAcceptedCallback)
Lua parameters
actionName (string): action name, e.g.: '/fibonacci'
actionType (string): action type, e.g.: 'example_interfaces/action/Fibonacci'
handleGoalCallback (func): callback function, which will be called with arguments (goal_id, goal) where goal is a table representing the Goal message of the action type. the callback must return a valid simROS2.goal_response
handleCancelCallback (func): callback function, which will be called with arguments (goal_id, goal) where goal is a table representing the Goal message of the action type. the callback must return a valid simROS2.cancel_response
handleAcceptedCallback (func): callback function, which will be called with arguments (goal_id, goal) where goal is a table representing the Goal message of the action type. it will be called after the goal is accepted, and is responsible of executing the goal, but must return immediately.
Lua return values
actionServerHandle (string): a handle to the action server
Python synopsis string actionServerHandle=simROS2.createActionServer(string actionName, string actionType, func handleGoalCallback, func handleCancelCallback, func handleAcceptedCallback)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.createClient

Description Create a service client.
Lua synopsis string clientHandle=simROS2.createClient(string serviceName, string serviceType)
Lua parameters
serviceName (string): service name, e.g.: '/trigger'
serviceType (string): service type, e.g.: 'std_srvs/srv/Trigger'
Lua return values
clientHandle (string): a handle to the ROS service client
Python synopsis string clientHandle=simROS2.createClient(string serviceName, string serviceType)
See also simROS2.call simROS2.clientTreatUInt8ArrayAsString simROS2.createInterface simROS2.createService simROS2.getInterfaceConstants simROS2.serviceTreatUInt8ArrayAsString simROS2.shutdownClient simROS2.shutdownService simROS2.supportedInterfaces simROS2.waitForService

simROS2.createInterface

Description Construct an interface of the specified type, initialized with the default values.
Lua synopsis table result=simROS2.createInterface(string type)
Lua parameters
type (string): type, e.g.: 'geometry_msgs/msg/Twist'
Lua return values
result (table): the interface object
Python synopsis list result=simROS2.createInterface(string type)
See also simROS2.createPublisher simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces simROS2.call simROS2.clientTreatUInt8ArrayAsString simROS2.createClient simROS2.createService simROS2.getInterfaceConstants simROS2.serviceTreatUInt8ArrayAsString simROS2.shutdownClient simROS2.shutdownService simROS2.supportedInterfaces simROS2.waitForService simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.createPublisher

Description Create a topic publisher.
Lua synopsis string publisherHandle=simROS2.createPublisher(string topicName, string topicType, int unused=0, bool unused2=false, simros2_qos qos=nil)
Lua parameters
topicName (string): topic name, e.g.: '/cmd_vel'
topicType (string): topic type, e.g.: 'geometry_msgs/msg/Twist'
unused (int, default: 0): unused, set to zero
unused2 (bool, default: false): unused, set to false
qos (simros2_qos, default: nil): QoS settings, see simros2_qos
Lua return values
publisherHandle (string): a handle to the ROS publisher
Python synopsis string publisherHandle=simROS2.createPublisher(string topicName, string topicType, int unused=0, bool unused2=false, simros2_qos qos=nil)
See also simROS2.createInterface simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces

simROS2.createService

Description Create a service.
Lua synopsis string serviceHandle=simROS2.createService(string serviceName, string serviceType, func serviceCallback)
Lua parameters
serviceName (string): service name, e.g.: '/trigger'
serviceType (string): service type, e.g.: 'std_srvs/srv/Trigger'
serviceCallback (func): callback function, which will be called with a single argument of type table containing the service request payload; it must return another table containing the response
Lua return values
serviceHandle (string): a handle to the ROS service
Python synopsis string serviceHandle=simROS2.createService(string serviceName, string serviceType, func serviceCallback)
See also simROS2.call simROS2.clientTreatUInt8ArrayAsString simROS2.createClient simROS2.createInterface simROS2.getInterfaceConstants simROS2.serviceTreatUInt8ArrayAsString simROS2.shutdownClient simROS2.shutdownService simROS2.supportedInterfaces simROS2.waitForService

simROS2.createSubscription

Description Create a subscription to a topic.
Lua synopsis string subscriptionHandle=simROS2.createSubscription(string topicName, string topicType, func topicCallback, int unused=0, simros2_qos qos=nil)
Lua parameters
topicName (string): topic name, e.g.: '/cmd_vel'
topicType (string): topic type, e.g.: 'geometry_msgs/msg/Twist'
topicCallback (func): callback function, which will be called with a single argument of type table containing the message payload, e.g.: {linear={x=1.5, y=0.0, z=0.0}, angular={x=0.0, y=0.0, z=-2.3}}
unused (int, default: 0): unused, set to zero
qos (simros2_qos, default: nil): QoS settings, see simros2_qos
Lua return values
subscriptionHandle (string): a handle to the ROS subscription
Python synopsis string subscriptionHandle=simROS2.createSubscription(string topicName, string topicType, func topicCallback, int unused=0, simros2_qos qos=nil)
See also simROS2.createInterface simROS2.createPublisher simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces

simROS2.deleteParam

Description Delete a parameter in the ROS Parameter Server.
Lua synopsis simROS2.deleteParam(string name)
Lua parameters
name (string): name of the parameter
Lua return values -
Python synopsis simROS2.deleteParam(string name)
See also simROS2.getParamBool simROS2.getParamDouble simROS2.getParamInt simROS2.getParamString simROS2.hasParam simROS2.setParamBool simROS2.setParamDouble simROS2.setParamInt simROS2.setParamString

simROS2.getInterfaceConstants

Description Get an object with the constants defined in the specified interface.
Lua synopsis table result=simROS2.getInterfaceConstants(string type)
Lua parameters
type (string): type, e.g.: 'geometry_msgs/msg/Twist'
Lua return values
result (table): the constants object
Python synopsis list result=simROS2.getInterfaceConstants(string type)
See also simROS2.createInterface simROS2.createPublisher simROS2.createSubscription simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces simROS2.call simROS2.clientTreatUInt8ArrayAsString simROS2.createClient simROS2.createInterface simROS2.createService simROS2.serviceTreatUInt8ArrayAsString simROS2.shutdownClient simROS2.shutdownService simROS2.supportedInterfaces simROS2.waitForService simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.getParamBool

Description Retrieve a boolean parameter from the ROS Parameter Server.
Lua synopsis bool exists, bool value=simROS2.getParamBool(string name, bool defaultValue=false)
Lua parameters
name (string): name of the parameter
defaultValue (bool, default: false): default value returned when parameter does not exist
Lua return values
exists (bool): true if the param exists otherwise false
value (bool): the value of the requested parameter
Python synopsis bool exists, bool value=simROS2.getParamBool(string name, bool defaultValue=false)
See also simROS2.deleteParam simROS2.getParamDouble simROS2.getParamInt simROS2.getParamString simROS2.hasParam simROS2.setParamBool simROS2.setParamDouble simROS2.setParamInt simROS2.setParamString

simROS2.getParamDouble

Description Retrieve a double parameter from the ROS Parameter Server.
Lua synopsis bool exists, float value=simROS2.getParamDouble(string name, float defaultValue=0.0)
Lua parameters
name (string): name of the parameter
defaultValue (float, default: 0.0): default value returned when parameter does not exist
Lua return values
exists (bool): true if the param exists otherwise false
value (float): the value of the requested parameter
Python synopsis bool exists, float value=simROS2.getParamDouble(string name, float defaultValue=0.0)
See also simROS2.deleteParam simROS2.getParamBool simROS2.getParamInt simROS2.getParamString simROS2.hasParam simROS2.setParamBool simROS2.setParamDouble simROS2.setParamInt simROS2.setParamString

simROS2.getParamInt

Description Retrieve an integer parameter from the ROS Parameter Server.
Lua synopsis bool exists, int value=simROS2.getParamInt(string name, int defaultValue=0)
Lua parameters
name (string): name of the parameter
defaultValue (int, default: 0): default value returned when parameter does not exist
Lua return values
exists (bool): true if the param exists otherwise false
value (int): the value of the requested parameter
Python synopsis bool exists, int value=simROS2.getParamInt(string name, int defaultValue=0)
See also simROS2.deleteParam simROS2.getParamBool simROS2.getParamDouble simROS2.getParamString simROS2.hasParam simROS2.setParamBool simROS2.setParamDouble simROS2.setParamInt simROS2.setParamString

simROS2.getParamString

Description Retrieve a string parameter from the ROS Parameter Server.
Lua synopsis bool exists, string value=simROS2.getParamString(string name, string defaultValue="")
Lua parameters
name (string): name of the parameter
defaultValue (string, default: ""): default value returned when parameter does not exist
Lua return values
exists (bool): true if the param exists otherwise false
value (string): the value of the requested parameter
Python synopsis bool exists, string value=simROS2.getParamString(string name, string defaultValue="")
See also simROS2.deleteParam simROS2.getParamBool simROS2.getParamDouble simROS2.getParamInt simROS2.hasParam simROS2.setParamBool simROS2.setParamDouble simROS2.setParamInt simROS2.setParamString

simROS2.getSimulationTime

Lua synopsis simROS2.getSimulationTime()
Lua parameters -
Lua return values -
Python synopsis simROS2.getSimulationTime()

simROS2.getSystemTime

Lua synopsis simROS2.getSystemTime()
Lua parameters -
Lua return values -
Python synopsis simROS2.getSystemTime()

simROS2.getTime

Description Return the current time according to the specified clock.
Lua synopsis simros2_time time=simROS2.getTime(int clock_type=simros2_clock_ros)
Lua parameters
clock_type (int, default: simros2_clock_ros): type of clock. see simROS2.clock_type.
Lua return values
time (simros2_time): ROS time
Python synopsis simros2_time time=simROS2.getTime(int clock_type=simros2_clock_ros)
See also

simROS2.hasParam

Description Check wether a parameter exists in the ROS Parameter Server.
Lua synopsis bool exists=simROS2.hasParam(string name)
Lua parameters
name (string): name of the parameter
Lua return values
exists (bool): true if the parameter exists, false otherwise
Python synopsis bool exists=simROS2.hasParam(string name)
See also simROS2.deleteParam simROS2.getParamBool simROS2.getParamDouble simROS2.getParamInt simROS2.getParamString simROS2.setParamBool simROS2.setParamDouble simROS2.setParamInt simROS2.setParamString

simROS2.imageTransportCreatePublisher

Description Create a publisher using ImageTransport.
Lua synopsis string publisherHandle=simROS2.imageTransportCreatePublisher(string topicName, int queueSize=1)
Lua parameters
topicName (string): topic name, e.g.: '/cmd_vel'
queueSize (int, default: 1): (optional) queue size
Lua return values
publisherHandle (string): a handle to the ROS publisher
Python synopsis string publisherHandle=simROS2.imageTransportCreatePublisher(string topicName, int queueSize=1)
See also simROS2.createInterface simROS2.createPublisher simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription

simROS2.imageTransportCreateSubscription

Description Create a subscription using ImageTransport.
Lua synopsis string subscriptionHandle=simROS2.imageTransportCreateSubscription(string topicName, func topicCallback, int queueSize=1)
Lua parameters
topicName (string): topic name, e.g.: '/cmd_vel'
topicCallback (func): callback function, which will be called as: topicCallback(buffer data, int width, int height)
queueSize (int, default: 1): (optional) queue size
Lua return values
subscriptionHandle (string): a handle to the ROS subscription
Python synopsis string subscriptionHandle=simROS2.imageTransportCreateSubscription(string topicName, func topicCallback, int queueSize=1)
See also simROS2.createInterface simROS2.createPublisher simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces simROS2.imageTransportCreatePublisher simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription

simROS2.imageTransportPublish

Description Publish a message on the topic associated with this publisher using ImageTransport.
Lua synopsis simROS2.imageTransportPublish(string publisherHandle, buffer data, int width, int height, string frame_id)
Lua parameters
publisherHandle (string): the publisher handle
data (buffer): the image data
width (int): image width
height (int): image height
frame_id (string): frame id
Lua return values -
Python synopsis simROS2.imageTransportPublish(string publisherHandle, buffer data, int width, int height, string frame_id)
See also simROS2.createInterface simROS2.createPublisher simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription

simROS2.imageTransportShutdownPublisher

Description Shutdown the publisher using ImageTransport.
Lua synopsis simROS2.imageTransportShutdownPublisher(string publisherHandle)
Lua parameters
publisherHandle (string): the publisher handle
Lua return values -
Python synopsis simROS2.imageTransportShutdownPublisher(string publisherHandle)
See also simROS2.createInterface simROS2.createPublisher simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownSubscription

simROS2.imageTransportShutdownSubscription

Description Shutdown the subscription using ImageTransport.
Lua synopsis simROS2.imageTransportShutdownSubscription(string subscriptionHandle)
Lua parameters
subscriptionHandle (string): the subscription handle
Lua return values -
Python synopsis simROS2.imageTransportShutdownSubscription(string subscriptionHandle)
See also simROS2.createInterface simROS2.createPublisher simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher

simROS2.importInterface

Lua synopsis simROS2.importInterface(string name)
Lua parameters
name (string): the name of the interface to import, e.g.: geometry_msgs/msg/Vector3
Lua return values -
Python synopsis simROS2.importInterface(string name)

simROS2.publish

Description Publish a message on the topic associated with this publisher.
Lua synopsis simROS2.publish(string publisherHandle, table message)
Lua parameters
publisherHandle (string): the publisher handle
message (table): the message to publish
Lua return values -
Python synopsis simROS2.publish(string publisherHandle, list message)
See also simROS2.createInterface simROS2.createPublisher simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces

simROS2.publisherTreatUInt8ArrayAsString

Description After calling this function, this publisher will treat uint8 arrays as string. Using strings should be in general much faster that using int arrays in Lua.
Lua synopsis simROS2.publisherTreatUInt8ArrayAsString(string publisherHandle)
Lua parameters
publisherHandle (string): the publisher handle
Lua return values -
Python synopsis simROS2.publisherTreatUInt8ArrayAsString(string publisherHandle)
See also simROS2.createInterface simROS2.createPublisher simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces

simROS2.sendGoal

Description Send a goal using the specified action client.
Lua synopsis bool success=simROS2.sendGoal(string actionClientHandle, table goal)
Lua parameters
actionClientHandle (string): the action client handle
goal (table): the goal to send
Lua return values
success (bool): false if sending the goal to the action server has failed
Python synopsis bool success=simROS2.sendGoal(string actionClientHandle, list goal)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.shutdownActionClient simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.sendTransform

Description Publish a TF transformation between frames.
Lua synopsis simROS2.sendTransform(table transform)
Lua parameters
transform (table): the transformation expressed as a geometry_msgs/msg/TransformStamped message, i.e. {header={stamp=timeStamp, frame_id='...'}, child_frame_id='...', transform={translation={x=..., y=..., z=...}, rotation={x=..., y=..., z=..., w=...}}}
Lua return values -
Python synopsis simROS2.sendTransform(list transform)
See also simROS2.createInterface simROS2.createPublisher simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransforms simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces simROS2.sendTransforms

simROS2.sendTransforms

Description Publish several TF transformations between frames.
Lua synopsis simROS2.sendTransforms(table transforms)
Lua parameters
transforms (table): an array of geometry_msgs/msg/TransformStamped messages
Lua return values -
Python synopsis simROS2.sendTransforms(list transforms)
See also simROS2.createInterface simROS2.createPublisher simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces simROS2.sendTransform

simROS2.serviceTreatUInt8ArrayAsString

Description After calling this function, this service will treat uint8 arrays as string. Using strings should be in general much faster that using int arrays in Lua.
Lua synopsis simROS2.serviceTreatUInt8ArrayAsString(string serviceHandle)
Lua parameters
serviceHandle (string): the service handle
Lua return values -
Python synopsis simROS2.serviceTreatUInt8ArrayAsString(string serviceHandle)
See also simROS2.call simROS2.clientTreatUInt8ArrayAsString simROS2.createClient simROS2.createInterface simROS2.createService simROS2.getInterfaceConstants simROS2.shutdownClient simROS2.shutdownService simROS2.supportedInterfaces simROS2.waitForService

simROS2.setParamBool

Description Set a boolean parameter in the ROS Parameter Server.
Lua synopsis simROS2.setParamBool(string name, bool value)
Lua parameters
name (string): name of the parameter
value (bool): value of the parameter
Lua return values -
Python synopsis simROS2.setParamBool(string name, bool value)
See also simROS2.deleteParam simROS2.getParamBool simROS2.getParamDouble simROS2.getParamInt simROS2.getParamString simROS2.hasParam simROS2.setParamDouble simROS2.setParamInt simROS2.setParamString

simROS2.setParamDouble

Description Set a double parameter in the ROS Parameter Server.
Lua synopsis simROS2.setParamDouble(string name, float value)
Lua parameters
name (string): name of the parameter
value (float): value of the parameter
Lua return values -
Python synopsis simROS2.setParamDouble(string name, float value)
See also simROS2.deleteParam simROS2.getParamBool simROS2.getParamDouble simROS2.getParamInt simROS2.getParamString simROS2.hasParam simROS2.setParamBool simROS2.setParamInt simROS2.setParamString

simROS2.setParamInt

Description Set a integer parameter in the ROS Parameter Server.
Lua synopsis simROS2.setParamInt(string name, int value)
Lua parameters
name (string): name of the parameter
value (int): value of the parameter
Lua return values -
Python synopsis simROS2.setParamInt(string name, int value)
See also simROS2.deleteParam simROS2.getParamBool simROS2.getParamDouble simROS2.getParamInt simROS2.getParamString simROS2.hasParam simROS2.setParamBool simROS2.setParamDouble simROS2.setParamString

simROS2.setParamString

Description Set a string parameter in the ROS Parameter Server.
Lua synopsis simROS2.setParamString(string name, string value)
Lua parameters
name (string): name of the parameter
value (string): value of the parameter
Lua return values -
Python synopsis simROS2.setParamString(string name, string value)
See also simROS2.deleteParam simROS2.getParamBool simROS2.getParamDouble simROS2.getParamInt simROS2.getParamString simROS2.hasParam simROS2.setParamBool simROS2.setParamDouble simROS2.setParamInt

simROS2.shutdownActionClient

Description Shutdown the action client.
Lua synopsis simROS2.shutdownActionClient(string actionClientHandle)
Lua parameters
actionClientHandle (string): the action client handle
Lua return values -
Python synopsis simROS2.shutdownActionClient(string actionClientHandle)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionServer simROS2.supportedInterfaces

simROS2.shutdownActionServer

Description Shutdown the action server.
Lua synopsis simROS2.shutdownActionServer(string actionServerHandle)
Lua parameters
actionServerHandle (string): the action server handle
Lua return values -
Python synopsis simROS2.shutdownActionServer(string actionServerHandle)
See also simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.supportedInterfaces

simROS2.shutdownClient

Description Shutdown the service client.
Lua synopsis simROS2.shutdownClient(string clientHandle)
Lua parameters
clientHandle (string): the service client handle
Lua return values -
Python synopsis simROS2.shutdownClient(string clientHandle)
See also simROS2.call simROS2.clientTreatUInt8ArrayAsString simROS2.createClient simROS2.createInterface simROS2.createService simROS2.getInterfaceConstants simROS2.serviceTreatUInt8ArrayAsString simROS2.shutdownService simROS2.supportedInterfaces simROS2.waitForService

simROS2.shutdownPublisher

Description Shutdown the specified publisher.
Lua synopsis simROS2.shutdownPublisher(string publisherHandle)
Lua parameters
publisherHandle (string): the publisher handle
Lua return values -
Python synopsis simROS2.shutdownPublisher(string publisherHandle)
See also simROS2.createInterface simROS2.createPublisher simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces

simROS2.shutdownService

Description Shutdown the service.
Lua synopsis simROS2.shutdownService(string serviceHandle)
Lua parameters
serviceHandle (string): the service handle
Lua return values -
Python synopsis simROS2.shutdownService(string serviceHandle)
See also simROS2.call simROS2.clientTreatUInt8ArrayAsString simROS2.createClient simROS2.createInterface simROS2.createService simROS2.getInterfaceConstants simROS2.serviceTreatUInt8ArrayAsString simROS2.shutdownClient simROS2.supportedInterfaces simROS2.waitForService

simROS2.shutdownSubscription

Description Shutdown the subscription.
Lua synopsis simROS2.shutdownSubscription(string subscriptionHandle)
Lua parameters
subscriptionHandle (string): the subscription handle
Lua return values -
Python synopsis simROS2.shutdownSubscription(string subscriptionHandle)
See also simROS2.createInterface simROS2.createPublisher simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownPublisher simROS2.subscriptionTreatUInt8ArrayAsString simROS2.supportedInterfaces

simROS2.subscriptionTreatUInt8ArrayAsString

Description After calling this function, this subscription will treat uint8 arrays as string. Using strings should be in general much faster that using int arrays in Lua.
Lua synopsis simROS2.subscriptionTreatUInt8ArrayAsString(string subscriptionHandle)
Lua parameters
subscriptionHandle (string): the subscription handle
Lua return values -
Python synopsis simROS2.subscriptionTreatUInt8ArrayAsString(string subscriptionHandle)
See also simROS2.createInterface simROS2.createPublisher simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.supportedInterfaces

simROS2.supportedInterfaces

Description Retrieve a list of supported interfaces.
Lua synopsis string[] result=simROS2.supportedInterfaces()
Lua parameters -
Lua return values
result (table of string): the list of supported interfaces
Python synopsis list result=simROS2.supportedInterfaces()
See also simROS2.createInterface simROS2.createPublisher simROS2.createSubscription simROS2.getInterfaceConstants simROS2.imageTransportCreatePublisher simROS2.imageTransportCreateSubscription simROS2.imageTransportPublish simROS2.imageTransportShutdownPublisher simROS2.imageTransportShutdownSubscription simROS2.publish simROS2.publisherTreatUInt8ArrayAsString simROS2.sendTransform simROS2.sendTransforms simROS2.shutdownPublisher simROS2.shutdownSubscription simROS2.subscriptionTreatUInt8ArrayAsString simROS2.call simROS2.clientTreatUInt8ArrayAsString simROS2.createClient simROS2.createInterface simROS2.createService simROS2.getInterfaceConstants simROS2.serviceTreatUInt8ArrayAsString simROS2.shutdownClient simROS2.shutdownService simROS2.waitForService simROS2.actionClientTreatUInt8ArrayAsString simROS2.actionServerActionAbort simROS2.actionServerActionCanceled simROS2.actionServerActionExecute simROS2.actionServerActionIsActive simROS2.actionServerActionIsCanceling simROS2.actionServerActionIsExecuting simROS2.actionServerActionSucceed simROS2.actionServerPublishFeedback simROS2.actionServerTreatUInt8ArrayAsString simROS2.cancelLastGoal simROS2.createActionClient simROS2.createActionServer simROS2.createInterface simROS2.getInterfaceConstants simROS2.sendGoal simROS2.shutdownActionClient simROS2.shutdownActionServer

simROS2.timeFromFloat

Lua synopsis simROS2.timeFromFloat(float t)
Lua parameters
t (float): the time as a floating point number
Lua return values -
Python synopsis simROS2.timeFromFloat(float t)

simROS2.timeToFloat

Lua synopsis simROS2.timeToFloat(table t)
Lua parameters
t (table): the time as a table with integer sec and nanosec fields
Lua return values -
Python synopsis simROS2.timeToFloat(list t)

simROS2.waitForService

Description Wait for the service associated with this service client.
Lua synopsis bool result=simROS2.waitForService(string clientHandle, float timeout)
Lua parameters
clientHandle (string): the service client handle
timeout (float): the amount of time to wait in seconds
Lua return values
result (bool): false if the service is not found after the specified timeout
Python synopsis bool result=simROS2.waitForService(string clientHandle, float timeout)
See also simROS2.call simROS2.clientTreatUInt8ArrayAsString simROS2.createClient simROS2.createInterface simROS2.createService simROS2.getInterfaceConstants simROS2.serviceTreatUInt8ArrayAsString simROS2.shutdownClient simROS2.shutdownService simROS2.supportedInterfaces



Constants

Constants used in the various functions. Refer to each constant using enumName.constantName, i.e. simUI.curve_type.xy for xy constant in simUI.curve_type enum.

simROS2.clock_type

ros
system
steady

simROS2.action_result_code

succeeded
aborted
canceled
unknown

simROS2.goal_response

reject
accept_and_execute
accept_and_defer

simROS2.cancel_response

reject
accept

simROS2.qos_history_policy

system_default
keep_last
keep_all

simROS2.qos_reliability_policy

system_default
reliable
best_effort

simROS2.qos_durability_policy

system_default
transient_local
volatile

simROS2.qos_liveliness_policy

system_default
automatic
manual_by_topic


Data structures

Data structures are used to pass complex data around. Create data structures in Lua in the form of a map, e.g.: {line_size=3, add_to_legend=false, selectable=true}

simros2_time

Description Time data structure, equivalent of builtin_interfaces/msg/Time
Fields
sec (int): seconds
nanosec (int): nanoseconds
See also

simros2_qos

Description QoS data structure
Fields
history (int, default: simros2_qos_history_policy_system_default)
depth (int, default: 10)
reliability (int, default: simros2_qos_reliability_policy_system_default)
durability (int, default: simros2_qos_durability_policy_system_default)
deadline (simros2_time)
lifespan (simros2_time)
liveliness (int, default: simros2_qos_liveliness_policy_system_default)
liveliness_lease_duration (simros2_time)
avoid_ros_namespace_conventions (bool, default: false)
See also



Script functions

Script functions are used to call some lua code from the plugin side (tipically used for event handlers).

subscriptionCallback

Description Callback for ROS subscription.
Lua synopsis simROS2.subscriptionCallback(table message)
Lua parameters
message (table): the topic payload (i.e. the message)
Lua return values -
Python synopsis simROS2.subscriptionCallback(list message)
See also

imageTransportCallback

Description Callback for ROS ImageTransport subscription.
Lua synopsis simROS2.imageTransportCallback(buffer data, int width, int height)
Lua parameters
data (buffer): the image data
width (int): image width
height (int): image height
Lua return values -
Python synopsis simROS2.imageTransportCallback(buffer data, int width, int height)
See also

actionGoalResponseCallback

Description Callback for action client goal response.
Lua synopsis simROS2.actionGoalResponseCallback(string goalID, bool accepted)
Lua parameters
goalID (string): the goal id
accepted (bool): true if the goal was accepted by the action server
Lua return values -
Python synopsis simROS2.actionGoalResponseCallback(string goalID, bool accepted)
See also