Betsy ROS

In this time of revolution between the regimes of ROS 1 and ROS 2, Betsy ROS creates a unified banner

Translation: This package is a unified Python API for certain "meta" ROS API calls that work the same in ROS 1 and ROS 2.

Installation

sudo pip3 install betsy-ros

Functionality

Workspace

• get_workspace_root returns a BuildType and pathlib.Path indicating the type and location of the current workspace.
  • BuildType can be CATKIN_MAKE, CATKIN_TOOLS, or COLCON
• get_ros_version returns an int and str indicating the ROS version (1 or 2) and the distro short-name (e.g. lunar, bouncy)

Packages

• get_package_name_from_path returns the name of the package that the initial path is in (including subfolders)
• get_package_names returns a set of strings of all the current package names, including the binary packages and the workspace packages
• find_package returns the path to a given package
• is_binary_ros returns True if the path passed to it is in the /opt/ros folder

Interfaces

(i.e. messages, services and actions)

• The class ROSInterface has three key attributes:
• package
• type
• name
• list_interfaces yields ROSInterface instances for all messages/services/actions in the environment.

Environment

(i.e. active topics, service providers and action servers)

• get_topics, get_services, and get_actions return the names of all active ROS resources
  • By default, it just returns the names.
  • If include_types is set to True, the type will also be included as a ROSInterface.

Credit

Package logo from artwork by Jean Leon Gerome Ferris (1863–1930): Betsy Ross 1777