An API for testing and mutating Dockerised ROS systems.
Read the documentation or check out the forum
ROSWire is a Python library for static and dynamic analysis of containerised Robot Operating System (ROS) applications. Given a Docker image, ROSWire provides an interface for statically querying the application (e.g., by automatically discovering its types, packages, messages, service, actions, etc.), as well as an interface for dynamically generating and interacting with instances of that application in the form of Docker containers (e.g., service calls, bag recording, topic publishing and subscribing, catkin builds, etc.).
Does not require ROS to be installed on your machine.
Supports most ROS distributions out of the box (e.g., Groovy, Indigo, Kinetic, Melodic).
Package Discovery: finds all ROS packages within a Docker image.
Definition Discovery: finds and parses all message, service and action formats into readable data structures.
Message Serialisation: converts ROS messages from YAML or binary to readable data structures and vice versa.
Bag Manipulation: efficiently parses rosbag files, which can then be inspected, manipulated, and saved to disk.
Bag Playback: safely replay bag files inside containers.
roswire requires Python 3.6+
To avoid interfering with the rest of your system (i.e., to avoid Python’s equivalent of DLL hell), we strongly recommend that ROSWire is installed within a virtualenv or pipenv (pipenv is preferred).
From within the virtual environment (i.e., the virtualenv or pipenv), the latest stable release of ROSWire on PyPI can be installed via:
(roswire) $ pip install roswire
ROSWire can also be installed from source:
$ git clone email@example.com:ChrisTimperley/roswire roswire $ cd roswire $ pipenv shell (roswire) $ pip install . Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 1. Definitions. "License" shall mean the terms and conditions for use, reproduction, and distribution as defined by Sections 1 through 9 of this document. "Licensor" shall mean the copyright owner or entity authorized by the copyright owner that is granting the License. "Legal Entity" shall mean the union of the acting entity and all other entities that control, are controlled by, or are under common control with that entity. For the purposes of this definition, "control" means (i) the power, direct or indirect, to cause the direction or management of such entity, whether by contract or otherwise, or (ii) ownership of fifty percent (50%) or more of the outstanding shares, or (iii) beneficial ownership of such entity. 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