rosmetasys 0.0.1

Commandline tool to export the meta information of a ROS package.

ROS 2 Meta System Exporter

This commandline tool can be used to export the meta information of a ROS2 system. This includes:

• the node names (and their namespaces)
• publishers and subscribers of each node
• services and clients of each node
• message types of each topic

Basic usage

Export your dataset

Exports the system meta information, named [SYSTEM_NAME]:

rosmetasys export [OPTIONS] [SYSTEM_NAME]

Options:

• -v | --verbose Print more output.
• -i | --interactive Interactive version asking you the options.
• -a | --anonymize Anonymizing of node names and topics.
• -z | --zip Create the zip file.
• -p | --pretty Pretty formatting for the json.

Upload your dataset

The datasets are gathered in the rosmetasys-datasets repository. Feel free to create a new issue with your dataset attached or create a pull request.

Example output

{
    "version": "1.0.0",
    "nodes": [
        {
            "name": "first_node",
            "namespace": "/",
            "localhost_only": true,
            "publishers": [
                {
                    "name": "/parameter_events",
                    "type": "rcl_interfaces/msg/ParameterEvent"
                },
                {
                    "name": "/my/topic/1",
                    "type": "std_msgs/msg/Empty"
                },
                {
                    "name": "/rosout",
                    "type": "rcl_interfaces/msg/Log"
                }
            ],
            "subscribers": [
                {
                    "name": "/my/topic/1",
                    "type": "std_msgs/msg/Empty"
                },
                {
                    "name": "/my/topic/2",
                    "type": "custom_type"
                }
            ],
            "services": [
                ...
            ],
            "clients": [
                ...
            ]
        },
        {
            "name": "second_node",
            "namespace": "/",
            "localhost_only": false,
            ...
        }
    ]
}

Known issues

ROS nodes need a little time to start up. Sometimes, the introspection methods does not return all nodes of the system. At the moment, the exporter waits for 5 seconds before starting the introspection. But it's not guaranteed that this is enough time for all nodes to start up.