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Tools like pgrep could definitely work, but perhaps the Slave API would be more efficient (and perhaps less error prone). Specifically the getPid(..) service.

Tools like pgrep could definitely work, but perhaps the Slave API would be more efficient (and perhaps less error prone). Specifically the getPid(..) service.

#!/usr/bin/env python
import rosnode
import rosgraph
import sys
import argparse

# lots of things 'borrowed' from rosnode

try:
    from xmlrpc.client import ServerProxy
except ImportError:
    from xmlrpclib import ServerProxy

parser = argparse.ArgumentParser()
parser.add_argument('ROS_MASTER_URI', type=str, nargs='?', metavar='URI', help='ROS master URI to use.')
args = parser.parse_args()

ID = '/rosnode'
master = rosgraph.Master(ID, master_uri=args.ROS_MASTER_URI)
print ("Using master at {}".format(master.getUri()))

nodes = rosnode.get_node_names()
print ("Known nodes: " + ', '.join(nodes))

for node in nodes:
    print ("  " + node)
    print ("    retrieving API URI for '{}'".format(node))

    node_api = rosnode.get_api_uri(master, node)
    if not node_api:
        print("    cannot get API URI for '{}': unknown node".format(node))
        continue
    print ("      -> {}".format(node_api))

    node = ServerProxy(node_api)
    pid = rosnode._succeed(node.getPid(ID))
    print ("    PID: {}".format(pid))

Tools like pgrep could definitely work, but perhaps the Slave API would be more efficient (and perhaps less error prone). Specifically the getPid(..) service.

Edit: try this. It prints the PIDs of all nodes known to a specific ROS master.

If you don't specify a XMLRPC URI of a specific ROS master, it will use whatever is currently configured in your shell (ie: the value of the ROS_MASTER_URI env var).

The same information can be retrieved using a bare-bones XMLRPC (Python) client, but it would be a bit more work. It would avoid the dependency on rosgraph and rosnode, so could work from any OS with a suitable XMLRPC client.

#!/usr/bin/env python
import rosnode
import rosgraph
import sys
import argparse

# lots of things 'borrowed' from rosnode

try:
    from xmlrpc.client import ServerProxy
except ImportError:
    from xmlrpclib import ServerProxy

parser = argparse.ArgumentParser()
parser.add_argument('ROS_MASTER_URI', type=str, nargs='?', metavar='URI', help='ROS master URI to use.')
args = parser.parse_args()

ID = '/rosnode'
master = rosgraph.Master(ID, master_uri=args.ROS_MASTER_URI)
print ("Using master at {}".format(master.getUri()))

nodes = rosnode.get_node_names()
print ("Known nodes: " + ', '.join(nodes))

for node in nodes:
    print ("  " + node)
    print ("    retrieving API URI for '{}'".format(node))

    node_api = rosnode.get_api_uri(master, node)
    if not node_api:
        print("    cannot get API URI for '{}': unknown node".format(node))
URI: error (unknown node: {}?)".format(node))
        continue
    print ("      -> {}".format(node_api))
API URI: " + node_api)

    node = ServerProxy(node_api)
    pid = rosnode._succeed(node.getPid(ID))
    print ("    PID: PID    : {}".format(pid))

Most of this is done by rosnode as well, so I used that as a reference. See ros_comm/rosnode/src/rosnode/__init__.py.