Merge pull request #116 from nobleo/fix/ros1_has_no_QoSProfile

Fix rosboard not starting on ROS1 systems since it doesn't know QoSProfile

rosboard/rosboard.py

@@ -59,7 +59,7 @@ def __init__(self, node_name = "rosboard_node"):
  self.sub_rosout = rospy.Subscriber("/rosout", Log, lambda x:x)
 
  tornado_settings = {
- 'debug': True, 
+ 'debug': True,
  'static_path': os.path.join(os.path.dirname(os.path.realpath(__file__)), 'html')
  }
 
@@ -106,7 +106,7 @@ def get_msg_class(self, msg_type):
  or
  "std_msgs/msg/Int32"
  it imports the message class into Python and returns the class, i.e. the actual std_msgs.msg.Int32
- 
+
  Returns none if the type is invalid (e.g. if user hasn't bash-sourced the message package).
  """
  try:
@@ -123,29 +123,30 @@ def get_msg_class(self, msg_type):
  rospy.logerr(str(e))
  return None
 
- def get_topic_qos(self, topic_name: str) -> QoSProfile:
- """! 
- Given a topic name, get the QoS profile with which it is being published
- @param topic_name (str) the topic name
- @return QosProfile the qos profile with which the topic is published. If no publishers exist 
- for the given topic, it returns the sensor data QoS. returns None in case ROS1 is being used
- """
- if rospy.__name__ == "rospy2":
- topic_info = rospy._node.get_publishers_info_by_topic(topic_name=topic_name)
- if len(topic_info):
- return topic_info[0].qos_profile
+ if os.environ.get("ROS_VERSION") == "2":
+ def get_topic_qos(self, topic_name: str) -> QoSProfile:
+ """!
+ Given a topic name, get the QoS profile with which it is being published
+ @param topic_name (str) the topic name
+ @return QosProfile the qos profile with which the topic is published. If no publishers exist
+ for the given topic, it returns the sensor data QoS. returns None in case ROS1 is being used
+ """
+ if rospy.__name__ == "rospy2":
+ topic_info = rospy._node.get_publishers_info_by_topic(topic_name=topic_name)
+ if len(topic_info):
+ return topic_info[0].qos_profile
+ else:
+ rospy.logwarn(f"No publishers available for topic {topic_name}. Returning sensor data QoS")
+ return QoSProfile(
+ depth=10,
+ reliability=QoSReliabilityPolicy.BEST_EFFORT,
+ # reliability=QoSReliabilityPolicy.RELIABLE,
+ durability=QoSDurabilityPolicy.VOLATILE,
+ # durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
+ )
  else:
- rospy.logwarn(f"No publishers available for topic {topic_name}. Returning sensor data QoS")
- return QoSProfile(
- depth=10,
- reliability=QoSReliabilityPolicy.BEST_EFFORT,
- # reliability=QoSReliabilityPolicy.RELIABLE,
- durability=QoSDurabilityPolicy.VOLATILE,
- # durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
- )
- else:
- rospy.logwarn("QoS profiles are only used in ROS2")
- return None
+ rospy.logwarn("QoS profiles are only used in ROS2")
+ return None
 
  def pingpong_loop(self):
  """
@@ -276,7 +277,7 @@ def sync_subs(self):
  except Exception as e:
  rospy.logwarn(str(e))
  traceback.print_exc()
- 
+
  self.lock.release()
 
  def on_system_stats(self, system_stats):
@@ -363,7 +364,7 @@ def on_ros_msg(self, msg, topic_info):
  # log last time we received data on this topic
  self.last_data_times_by_topic[topic_name] = t
 
- # broadcast it to the listeners that care 
+ # broadcast it to the listeners that care
  self.event_loop.add_callback(
  ROSBoardSocketHandler.broadcast,
  [ROSBoardSocketHandler.MSG_MSG, ros_msg_dict]
@@ -374,4 +375,3 @@ def main(args=None):
 
 if __name__ == '__main__':
  main()
-