UniROS API reference

The unified abstraction layer. Hosts the canonical multiprocessing gym-proxy class and the ROS-side utility modules shared by every package in the ecosystem.

Top-level package

class uniros.GymProxy(env_name, *args, **kwargs)[source]

Bases: object

Parent-side proxy for a gym.Env running inside a worker process.

Equivalent aliases re-exported by other packages in the ecosystem:

  • multiros.core.MultirosGym

  • realros.core.RealrosGym

  • uniros.core.uniros_gym

All four names refer to the same class object.

Usage:

from uniros.core import uniros_gym as gym  # or any alias
env = gym.make("env_name", **kwargs)
env.reset()
Parameters:
static worker(env_name, conn, *args, **kwargs)[source]
Parameters:
Return type:

None

property unwrapped: GymProxy

Return self as the unwrapped env.

The proxy IS the user-visible env from the parent’s perspective; whatever lives in the worker process is opaque and not accessible across the pipe (gym.Env instances typically hold non-picklable state such as _thread.RLock from rospy’s spinner threads, so sending them through the pipe raises TypeError).

Without this handler, env.unwrapped would route through __getattr__, IPC to the worker, and fail to pickle. SB3’s DummyVecEnv calls id(env.unwrapped) for uniqueness checking during construction, so this property is required for SB3 compatibility.

classmethod make(env_name, *args, **kwargs)[source]
Parameters:
Return type:

GymProxy

step(action)[source]
Parameters:

action (Any)

Return type:

Tuple[Any, float, bool, bool, Mapping[str, Any]]

reset(seed=None, options=None)[source]
Parameters:
Return type:

Tuple[Any, Mapping[str, Any]]

close()[source]
Return type:

None

uniros.uniros_gym

alias of GymProxy

uniros.make(env_name, *args, **kwargs)
Parameters:
Return type:

GymProxy

Gym proxy

Canonical gym-proxy implementation for the UniROS ecosystem.

This is the single source of truth for the multiprocessing gym-proxy class used by multiros, realros, and uniros. Each of those packages re-exports it under a historical name (MultirosGym, RealrosGym, uniros_gym) so existing user code continues to work — every alias points at the class defined here, so a fix landed here automatically reaches all three packages.

The proxy spawns a worker process that holds the actual gym.Env. Parent-side method calls (step / reset / close / attribute access) flow over a multiprocessing.Pipe to the worker and back. Worker-side exceptions are caught and shipped back as _RemoteException, so the parent re-raises with the worker’s traceback instead of hanging on the next recv().

class uniros._proxy.GymProxy(env_name, *args, **kwargs)[source]

Bases: object

Parent-side proxy for a gym.Env running inside a worker process.

Equivalent aliases re-exported by other packages in the ecosystem:

  • multiros.core.MultirosGym

  • realros.core.RealrosGym

  • uniros.core.uniros_gym

All four names refer to the same class object.

Usage:

from uniros.core import uniros_gym as gym  # or any alias
env = gym.make("env_name", **kwargs)
env.reset()
Parameters:
static worker(env_name, conn, *args, **kwargs)[source]
Parameters:
Return type:

None

property unwrapped: GymProxy

Return self as the unwrapped env.

The proxy IS the user-visible env from the parent’s perspective; whatever lives in the worker process is opaque and not accessible across the pipe (gym.Env instances typically hold non-picklable state such as _thread.RLock from rospy’s spinner threads, so sending them through the pipe raises TypeError).

Without this handler, env.unwrapped would route through __getattr__, IPC to the worker, and fail to pickle. SB3’s DummyVecEnv calls id(env.unwrapped) for uniqueness checking during construction, so this property is required for SB3 compatibility.

classmethod make(env_name, *args, **kwargs)[source]
Parameters:
Return type:

GymProxy

step(action)[source]
Parameters:

action (Any)

Return type:

Tuple[Any, float, bool, bool, Mapping[str, Any]]

reset(seed=None, options=None)[source]
Parameters:
Return type:

Tuple[Any, Mapping[str, Any]]

close()[source]
Return type:

None

Re-export of the canonical gym proxy.

The implementation lives in uniros._proxy as GymProxy. uniros_gym is a snake_case alias kept for backwards compatibility — both names refer to the same class object.

Usage:

from uniros.core import uniros_gym as gym
env = gym.make("env_name", args)
env.reset()
class uniros.core.GymProxy(env_name, *args, **kwargs)[source]

Bases: object

Parent-side proxy for a gym.Env running inside a worker process.

Equivalent aliases re-exported by other packages in the ecosystem:

  • multiros.core.MultirosGym

  • realros.core.RealrosGym

  • uniros.core.uniros_gym

All four names refer to the same class object.

Usage:

from uniros.core import uniros_gym as gym  # or any alias
env = gym.make("env_name", **kwargs)
env.reset()
Parameters:
static worker(env_name, conn, *args, **kwargs)[source]
Parameters:
Return type:

None

property unwrapped: GymProxy

Return self as the unwrapped env.

The proxy IS the user-visible env from the parent’s perspective; whatever lives in the worker process is opaque and not accessible across the pipe (gym.Env instances typically hold non-picklable state such as _thread.RLock from rospy’s spinner threads, so sending them through the pipe raises TypeError).

Without this handler, env.unwrapped would route through __getattr__, IPC to the worker, and fail to pickle. SB3’s DummyVecEnv calls id(env.unwrapped) for uniqueness checking during construction, so this property is required for SB3 compatibility.

classmethod make(env_name, *args, **kwargs)[source]
Parameters:
Return type:

GymProxy

step(action)[source]
Parameters:

action (Any)

Return type:

Tuple[Any, float, bool, bool, Mapping[str, Any]]

reset(seed=None, options=None)[source]
Parameters:
Return type:

Tuple[Any, Mapping[str, Any]]

close()[source]
Return type:

None

uniros.core.uniros_gym

alias of GymProxy

Shared utilities

ROS markers

This script is to specify Classes for handling ROS markers.

The RosMarker Class has the following methods,

01. set_frame_id: Set the frame ID of the marker. 02. set_ns: Set the namespace of the marker. 03. set_id: Set the ID of the marker. 04. set_type: Set the type of the marker. 05. set_action: Set the action of the marker. 06. set_pose: Set the pose of the marker. 07. set_position: Set the position of the marker. 08. set_orientation: Set the orientation of the marker. 09. set_duration: Set the lifetime of the marker. 10. set_scale: Set the scale of the marker. 11. set_color: Set the color of the marker. 12. publish: Publish the marker. 13. delete: Delete the marker. 14. update: Update the marker.

The RosMarkerArray Class has the following methods,

01. add_marker: Add a new marker to the array. 02. remove_marker: Remove a marker from the array. 03. update_markers: Update all markers in the array. 04. publish: Publish all markers in the array. 05. delete_all_markers: Delete all markers in the array. 06. remove_all_markers: Remove all markers from the array. 07. get_marker_by_id: Get a marker by its ID. 08. get_markers_by_property: Get all markers with a specific property value.

class uniros.utils.ros_markers.RosMarker(frame_id, ns, marker_type, marker_topic, marker_id=0, action=visualization_msgs.msg.Marker.ADD, pose=None, position=None, orientation=None, lifetime=0.0, scale=None, color=None)[source]

Bases: object

A class for working with ROS markers.

This class provides methods for creating, updating, publishing and deleting a single ROS marker. It allows you to set and change the marker properties such as position, orientation, scale, color and lifetime.

Initialize a RosMarker object.

Parameters:

  • frame_id (str) – The frame ID of the marker.

  • ns (str) – The namespace of the marker.

  • marker_type (int) – The type of the marker.

  • marker_topic (str) – The topic to publish the marker to.

  • marker_id (int) – The ID of the marker (optional).

  • action (int) – The action of the marker (optional).

  • pose (list) – The pose of the marker [x, y, z, qx, qy, qz, qw] (optional).

  • position (Union[list, np.ndarray]) – The new position of the marker [x, y, z] (optional).

  • orientation (Union[list, np.ndarray]) – The new orientation of the marker [qx, qy, qz, qw] (optional).

  • lifetime (float) – The lifetime of the marker in seconds (optional).

  • scale (list) – The scale of the marker [x, y, z] (optional).

  • color (list) – The color of the marker [r, g, b, a] (optional).

Marker types:

ARROW = 0 CUBE = 1 SPHERE = 2 CYLINDER = 3 LINE_STRIP = 4 LINE_LIST = 5 CUBE_LIST = 6 SPHERE_LIST = 7 POINTS = 8 TEXT_VIEW_FACING = 9 MESH_RESOURCE = 10 TRIANGLE_LIST = 11

set_frame_id(frame_id)[source]

Set the frame ID of the marker.

Parameters:

frame_id (str) – The new frame ID of the marker.

Return type:

None

set_ns(ns)[source]

Set the namespace of the marker.

Parameters:

ns (str) – The new namespace of the marker.

Return type:

None

set_id(marker_id)[source]

Set the ID of the marker.

Parameters:

marker_id (int) – The new ID of the marker.

Return type:

None

set_type(marker_type)[source]

Set the type of the marker.

Parameters:

marker_type (int) – The new type of the marker.

Return type:

None

set_action(action)[source]

Set the action of the marker.

Parameters:

action (int) – The new action of the marker.

Return type:

None

set_pose(pose)[source]

Set the pose of the marker.

Parameters:

pose (list) – The new pose of the marker [x, y, z, qx, qy, qz, qw].

Return type:

None

set_position(position)[source]

Set the position of the marker.

Parameters:

position (Union[list, np.ndarray]) – The new position of the marker [x, y, z].

Return type:

None

set_orientation(orientation)[source]

Set the orientation of the marker.

Parameters:

orientation (Union[list, np.ndarray]) – The new orientation of the marker [qx, qy, qz, qw].

Return type:

None

set_duration(duration)[source]

Set the lifetime of the marker.

Parameters:

duration (float) – The new lifetime of the marker in seconds.

Return type:

None

set_scale(scale)[source]

Set the scale of the marker.

Parameters:

scale (list) – The new scale of the marker [x, y, z].

Return type:

None

set_color(color=None, r=None, g=None, b=None, a=None)[source]

Set the color of the marker.

Parameters:

  • color (list) – The new color of the marker [r, g, b, a] (optional).

  • r (float) – The new red component of the marker color (optional).

  • g (float) – The new green component of the marker color (optional).

  • b (float) – The new blue component of the marker color (optional).

  • a (float) – The new alpha component of the marker color (optional).

Return type:

None

publish()[source]

Publish the marker.

Return type:

None

delete()[source]

Delete the marker.

Return type:

None

update(position=None, orientation=None, r=None, g=None, b=None, a=None, duration=None)[source]

Update the marker.

Parameters:

  • position (Union[list, np.ndarray]) – The new position of the marker [x, y, z] (optional).

  • orientation (Union[list, np.ndarray]) – The new orientation of the marker [qx, qy, qz, qw] (optional).

  • r (float) – The new red component of the marker color (optional).

  • g (float) – The new green component of the marker color (optional).

  • b (float) – The new blue component of the marker color (optional).

  • a (float) – The new alpha component of the marker color (optional).

  • duration (float) – The new lifetime of the marker in seconds (optional).

Return type:

None

class uniros.utils.ros_markers.RosMarkerArray(marker_topic)[source]

Bases: object

A class for working with arrays of ROS markers.

This class provides methods for managing a list of RosMarker instances and publishing them as a MarkerArray. It allows you to add, remove, update and delete multiple markers at once.

Initialize the RosMarkerArray.

Parameters:

marker_topic (str) – The topic to publish the markers on.

add_marker(frame_id, ns, marker_type, marker_topic='', marker_id=0, action=visualization_msgs.msg.Marker.ADD, pose=None, position=None, orientation=None, lifetime=0.0, scale=None, color=None)[source]

Add a new marker to the array.

Parameters:

  • frame_id (str) – The frame ID of the marker.

  • ns (str) – The namespace of the marker.

  • marker_type (int) – The type of the marker.

  • marker_topic (str) – The topic to publish the marker to (optional).

  • marker_id (int) – The ID of the marker (optional).

  • action (int) – The action of the marker (optional).

  • pose (list) – The pose of the marker [x, y, z, qx, qy, qz, qw] (optional).

  • position (Union[list, np.ndarray]) – The new position of the marker [x, y, z] (optional).

  • orientation (Union[list, np.ndarray]) – The new orientation of the marker [qx, qy, qz, qw] (optional).

  • lifetime (float) – The lifetime of the marker in seconds (optional).

  • scale (list) – The scale of the marker [x, y, z] (optional).

  • color (list) – The color of the marker [r, g, b, a] (optional).

Return type:

None

remove_marker(marker_id)[source]

Remove a marker from the array.

Parameters:

marker_id (int) – The ID of the marker to remove.

Return type:

None

update_markers(frame_id=None, ns=None, marker_type=None, action=None, position=None, orientation=None, scale=None, color=None, lifetime=None)[source]

Update all markers in the array.

Parameters:

  • frame_id (str) – The new frame ID of the markers (optional)

  • ns (str) – The new namespace of the markers (optional).

  • marker_type (int) – The new type of the markers (optional).

  • action (int) – The new action of the markers (optional).

  • position (list) – The new position of the markers [x, y, z] (optional).

  • orientation (list) – The new orientation of the markers [qx, qy, qz, qw] (optional).

  • scale (list) – The new scale of the markers [x, y, z] (optional).

  • color (list) – The new color of the markers [r, g, b, a] (optional).

  • lifetime (float) – The new lifetime of the markers in seconds (optional).

Return type:

None

publish()[source]

Publish all markers in the array.

Return type:

None

delete_all_markers()[source]

Delete all markers in the array.

Return type:

None

remove_all_markers()[source]

Remove all markers from the array.

Return type:

None

get_marker_by_id(marker_id)[source]

Get a marker by its ID.

Parameters:

marker_id (int) – The ID of the marker to get.

Returns:

The marker with the specified ID, or None if no such marker exists.

Return type:

RosMarker

get_markers_by_property(property_name, property_value)[source]

Get all markers with a specific property value.

Parameters:

  • property_name (str) – The name of the property to check (e.g., “ns” or “type”).

  • property_value (Any) – The value of the property to check for.

Returns:

A list of all markers with the specified property value.

Return type:

list[RosMarker]

Kinematics

There are two classes in this file that provide similar functionality: - Kinematics_pyrobot: This is modified from the Kinematics class in the pyrobot repo. - Kinematics_pykdl: Kinematics class based on pykdl_utils package.

These classes provide kinematics functionality for a robot. Instead of using computation-heavy ROS packages like MoveIt, this class uses the KDL library to perform kinematics calculations.

With these classes, you can calculate, - Forward kinematics - compute the pose of the end-effector given the joint angles - Inverse kinematics - compute the joint angles given the pose of the end-effector

Since both classes provide similar functionality, you can use either one of them. However, the Kinematics_pyrobot class is recommended since it is more flexible and provides more functionality.

class uniros.utils.ros_kinematics.Kinematics_pyrobot(robot_description_parm, base_link, end_link, debug=False)[source]

Bases: object

This is modified from the Kinematics class in the pyrobot repo. link: https://github.com/facebookresearch/pyrobot/blob/b334b60842271d9d8f4ed7a97bc4e5efe8bb72d6/pyrobot_bridge/nodes/kinematics.py

Initialize the Kinematics class.

Parameters:

  • robot_description_parm (str) – robot description parameter name including the namespace

  • base_link (str) – base link of the robot including the namespace

  • end_link (str) – end-effector link of the robot including the namespace

  • debug (bool) – debug flag

calculate_ik(target_pose, tolerance, init_joint_positions)[source]

Calculate the inverse kinematics for a given pose.

Parameters:

  • target_pose (list) – The desired position and orientation of the end effector given as [x, y, z, qx, qy, qz, qw]

  • tolerance (list) – The tolerance for each of the pose components

  • init_joint_positions (list) – The initial positions of the joints from which to start the IK calculation

Returns:

A tuple (success, joint_positions), where success is a boolean indicating success of IK, and joint_positions are the calculated joint angles.

Return type:

Tuple[bool, ndarray | None]

static rot_mat_to_quat(rot)[source]

Convert the rotation matrix into quaternion.

Parameters:

rot (numpy.ndarray) – the rotation matrix (shape: \([3, 3]\))

Returns:

\([4,]\))

Return type:

quaternion (numpy.ndarray) [x, y, z, w] (shape

static joints_to_kdl(joint_values)[source]

Convert the numpy array into KDL data format

Parameters:

joint_values – values for the joints

Returns:

kdl data type for the joints

calculate_fk(joint_positions, des_frame, euler=True)[source]

Given joint angles, compute the pose of desired_frame with respect to the base frame. The desired frame must be in self.arm_link_names.

Parameters:

  • joint_positions (np.ndarray) – Joint angles.

  • des_frame (str) – Desired frame.

  • euler (bool) – If True, return the orientation in Euler angles.

Returns:

A tuple (success, pos, rpy), where success is a boolean indicating success of FK, and pos are the calculated position and rpy are the calculated roll, pitch, yaw.

Return type:

Tuple[bool, ndarray | None]

class uniros.utils.ros_kinematics.Kinematics_pykdl(robot_description_parm, base_link, end_link, debug=False)[source]

Bases: object

Kinematics class based on pykdl_utils package. https://github.com/ncbdrck/hrl-kdl

Initialize the Kinematics class.

Parameters:

  • robot_description_parm (str) – robot description parameter name including the namespace

  • base_link (str) – base link of the robot including the namespace

  • end_link (str) – end-effector link of the robot including the namespace

  • debug (bool) – debug mode

static rot_mat_to_quat(rot)[source]

Convert the rotation matrix into quaternion.

Parameters:

rot (numpy.ndarray) – the rotation matrix (shape: \([3, 3]\))

Returns:

\([4,]\))

Return type:

quaternion (numpy.ndarray) [x, y, z, w] (shape

calculate_fk(joint_positions, end_link=None, base_link=None, euler=True)[source]

Given joint angles, compute the pose of desired_frame with respect to the base frame. The desired frame must be in self.arm_link_names.

Parameters:

  • joint_positions (np.ndarray) – Joint angles.

  • end_link (str) – Desired frame. If None, the end-effector frame is used.

  • base_link (str) – Base frame. If None, the base frame is used.

  • euler (bool) – If True, return the orientation in Euler angles.

Returns:

A tuple (success, pos, rpy), where success is a boolean indicating success of FK, and pos are the calculated position and rpy are the calculated roll, pitch, yaw.

Return type:

Tuple[bool, ndarray | None]

calculate_ik(target_pose, init_joint_positions=None)[source]

Calculate the inverse kinematics for a given pose.

Parameters:

  • target_pose (matrix) – The desired position and orientation of the end effector given as a 4x4 matrix

  • init_joint_positions (list) – The initial positions of the joints from which to start the IK calculation

Returns:

A tuple (success, joint_positions), where success is a boolean indicating success of IK, and joint_positions are the calculated joint angles.

Return type:

Tuple[bool, ndarray | None]

ROS controllers

Functions for handling ROS controllers via the controller_manager services.

Functions provided:

  • load_ros_controller — load a ROS controller.

  • load_controller_list — load a list of controllers.

  • list_loaded_controllers — list all loaded controllers.

  • unload_ros_controller — unload a controller.

  • unload_controller_list — unload a list of controllers.

  • switch_controllers — switch between two sets of controllers.

  • start_controllers — start a list of controllers.

  • stop_controllers — stop a list of controllers.

  • reset_controllers — stop then re-start a list of controllers.

  • spawn_controllers — load then start a list of controllers.

  • unspawn_controllers — stop then unload a list of controllers.

Every helper wraps its underlying service call with a 30-second rospy.wait_for_service timeout so a hung controller_manager surfaces as a logged failure rather than an indefinite hang.

ROS service reference: http://docs.ros.org/en/noetic/api/controller_manager_msgs/html/index-msg.html

uniros.utils.ros_controllers.load_ros_controller(controller_name, ns=None, max_retries=5)[source]

Function to load a ROS controller using the controller_manager_msgs/LoadController service. (Need to have this controller loaded in the parameter server)

Parameters:

  • controller_name (str) – The name of the controller to load.

  • ns (str) – The namespace of the controller_manager service (optional).

  • max_retries (int) – The maximum number of times to retry loading the controller (optional).

Returns:

True if the controller was successfully loaded, False otherwise.

Return type:

bool

uniros.utils.ros_controllers.load_controller_list(controller_list, ns=None, max_retries=5)[source]

Function to load a list of ROS controllers.

Parameters:

  • controller_list (list) – A list of controller names to load.

  • ns (str) – The namespace of the controller_manager service (optional).

  • max_retries (int) – The maximum number of times to retry loading each controller (optional).

Returns:

True if all controllers were successfully loaded, False otherwise.

Return type:

bool

uniros.utils.ros_controllers.list_loaded_controllers(ns=None, max_retries=5)[source]

Function to list all loaded ROS controllers using the controller_manager_msgs/ListControllers service.

Parameters:

  • ns (str) – The namespace of the controller_manager service (optional).

  • max_retries (int) – The maximum number of times to retry calling the service (optional).

Returns:

A list of loaded controller names. If an error occurred while calling the service,

an empty list is returned.

Return type:

list

uniros.utils.ros_controllers.unload_ros_controller(controller_name, ns=None, max_retries=5)[source]

Function to unload a ROS controller using the controller_manager_msgs/UnloadController service.

Parameters:

  • controller_name (str) – The name of the controller to unload.

  • ns (str) – The namespace of the controller_manager service (optional).

  • max_retries (int) – The maximum number of times to retry unloading the controller (optional).

Returns:

True if the controller was successfully unloaded, False otherwise.

Return type:

bool

uniros.utils.ros_controllers.unload_controller_list(controller_list, ns=None, max_retries=5)[source]

Function to unload a list of ROS controllers using the unload_ros_controller function.

Parameters:

  • controller_list (list) – A list of controller names to unload.

  • ns (str) – The namespace of the controller_manager service (optional).

  • max_retries (int) – The maximum number of times to retry unloading each controller (optional).

Returns:

True if all controllers were successfully unloaded, False otherwise.

Return type:

bool

uniros.utils.ros_controllers.switch_controllers(start_controllers_list, stop_controllers_list, ns=None, strictness=1, start_asap=False, timeout=0.0, max_retries=5)[source]

Function to switch between two sets of ROS controllers using the controller_manager_msgs/SwitchController service.

Parameters:

  • start_controllers_list (list) – A list of controller names to start.

  • stop_controllers_list (list) – A list of controller names to stop.

  • ns (str) – The namespace of the controller_manager service (optional).

  • strictness (int) – The level of strictness to use when switching controllers (optional). 1 = BEST_EFFORT, 2 = STRICT.

  • start_asap (bool) – Whether to start controllers in the start_controllers list as soon as possible (optional).

  • timeout (float) – The maximum amount of time to wait for the controller switch to complete (optional).

  • max_retries (int) – The maximum number of times to retry switching controllers (optional).

Returns:

True if the controllers were successfully switched, False otherwise.

Return type:

bool

uniros.utils.ros_controllers.start_controllers(controller_list, ns=None, strictness=1, start_asap=False, timeout=0.0, max_retries=5)[source]

Function to start a list of ROS controllers using the switch_controllers function.

Parameters:

  • controller_list (list) – A list of controller names to start.

  • ns (str) – The namespace of the controller_manager service (optional).

  • strictness (int) – The level of strictness to use when starting controllers (optional). 1 = BEST_EFFORT, 2 = STRICT.

  • start_asap (bool) – Whether to start controllers in the controller_list as soon as possible (optional).

  • timeout (float) – The maximum amount of time to wait for the controllers to start (optional).

  • max_retries (int) – The maximum number of times to retry starting controllers (optional).

Returns:

True if all controllers were successfully started, False otherwise.

Return type:

bool

uniros.utils.ros_controllers.stop_controllers(controller_list, ns=None, strictness=1, start_asap=False, timeout=0.0, max_retries=5)[source]

Function to stop a list of ROS controllers using the switch_controllers function.

Parameters:

  • controller_list (list) – A list of controller names to stop.

  • ns (str) – The namespace of the controller_manager service (optional).

  • strictness (int) – The level of strictness to use when stopping controllers (optional). 1 = BEST_EFFORT, 2 = STRICT.

  • start_asap (bool) – Whether to stop controllers in the controller_list as soon as possible (optional).

  • timeout (float) – The maximum amount of time to wait for the controllers to stop (optional).

  • max_retries (int) – The maximum number of times to retry stopping controllers (optional).

Returns:

True if all controllers were successfully stopped, False otherwise.

Return type:

bool

uniros.utils.ros_controllers.reset_controllers(controller_list, ns=None, strictness=1, start_asap=False, timeout=0.0, max_retries=5)[source]

Function to “reset” a list of ROS controllers by stopping and then starting them again.

Parameters:

  • controller_list (list) – A list of controller names to reset.

  • ns (str) – The namespace of the controller_manager service (optional).

  • strictness (int) – The level of strictness to use when resetting controllers (optional). 1 = BEST_EFFORT, 2 = STRICT.

  • start_asap (bool) – Whether to start controllers in the controller_list as soon as possible (optional).

  • timeout (float) – The maximum amount of time to wait for the controllers to reset (optional).

  • max_retries (int) – The maximum number of times to retry resetting controllers (optional).

Returns:

True if all controllers were successfully reset, False otherwise.

Return type:

bool

uniros.utils.ros_controllers.spawn_controllers(controller_list, ns=None, strictness=1, start_asap=False, timeout=0.0, max_retries=5)[source]

Function to spawn a list of ROS controllers by loading and then starting them.

Parameters:

  • controller_list (list) – A list of controller names to spawn.

  • ns (str) – The namespace of the controller_manager service (optional).

  • strictness (int) – The level of strictness to use when spawning controllers (optional). 1 = BEST_EFFORT, 2 = STRICT.

  • start_asap (bool) – Whether to start controllers in the controller_list as soon as possible (optional).

  • timeout (float) – The maximum amount of time to wait for the controllers to spawn (optional).

  • max_retries (int) – The maximum number of times to retry spawning controllers (optional).

Returns:

True if all controllers were successfully spawned, False otherwise.

Return type:

bool

uniros.utils.ros_controllers.unspawn_controllers(controller_list, ns=None, strictness=1, start_asap=False, timeout=0.0, max_retries=5)[source]

Function to unspawn a list of ROS controllers by stopping and then unloading them.

Parameters:

  • controller_list (list) – A list of controller names to unspawn.

  • ns (str) – The namespace of the controller_manager service (optional).

  • strictness (int) – The level of strictness to use when unspawning controllers (optional). 1 = BEST_EFFORT, 2 = STRICT.

  • start_asap (bool) – Whether to stop controllers in the controller_list as soon as possible (optional).

  • timeout (float) – The maximum amount of time to wait for the controllers to unspawn (optional).

  • max_retries (int) – The maximum number of times to retry unspawning controllers (optional).

Returns:

True if all controllers were successfully unspawned, False otherwise.

Return type:

bool