goros

README

goros

The golang equivalent of roslibjs. Communicates with ROS over a rosbridge.

Documentation

Index

• Constants
• func ParseRosbag(path string)
• type Base
• type CustomMessage
• type CustomMessageSlice
• type Ros
  • func NewRos(url string) *Ros
  • func (ros *Ros) GetServices() []string
  • func (ros *Ros) GetTopics() []string
  • func (ros *Ros) Subscribe(topicName string, callback TopicCallback)
• type RosTime
• type ServiceCall
• type ServiceResponse
• type Topic
  • func NewTopic(topicName string) *Topic
• type TopicCallback

Constants

const (
	MessageData      = 0x02
	BagHeader        = 0x03
	IndexData        = 0x04
	ChunkRecord      = 0x05
	ChunkInfo        = 0x06
	ConnectionRecord = 0x07
)

Functions

func ParseRosbag

func ParseRosbag(path string)

Types

type Base

type Base struct {
	Op string `json:"op"`
	Id string `json:"id"`
}

type CustomMessage

type CustomMessage map[string]interface{}

type CustomMessageSlice

type CustomMessageSlice struct {
	CustomMessage
}

type Ros

type Ros struct {
	// contains filtered or unexported fields
}

func NewRos

func NewRos(url string) *Ros

func (*Ros) GetServices

func (ros *Ros) GetServices() []string

func (*Ros) GetTopics

func (ros *Ros) GetTopics() []string

func (*Ros) Subscribe

func (ros *Ros) Subscribe(topicName string, callback TopicCallback)

type RosTime

type RosTime struct {
	Secs  int32
	NSecs int32
}

type ServiceCall

type ServiceCall struct {
	Op      string `json:"op"`
	Id      string `json:"id"`
	Service string `json:"service"`
	Args    string `json:"args,omitempty"`
}

type ServiceResponse

type ServiceResponse struct {
	Op      string                     `json:"op"`
	Id      string                     `json:"id"`
	Service string                     `json:"service"`
	Result  bool                       `json:"result"`
	Values  map[string]json.RawMessage `json:"values"`
}

type Topic

type Topic struct {
	Op    string          `json:"op"`
	Id    string          `json:"id"`
	Topic string          `json:"topic"`
	Msg   json.RawMessage `json:"msg,omitempty"`
}

func NewTopic

func NewTopic(topicName string) *Topic

type TopicCallback

type TopicCallback func(*json.RawMessage)