How to list all topics/services that are known by the server with roscpp?

asked 2013-12-08 06:23:30 -0600

ISibboI
15 ●2 ●2 ●5

How can I list all topics or services that are currently known by the server with roscpp?

Comments

Maybe sth like rostopic list && rosservice list | grep *roscpp*? I'm not sure about the exact syntax from my mind.

atp ( 2013-12-08 07:16:59 -0600 )edit

Thx. With roscpp I mean using a C++ function.

ISibboI ( 2013-12-08 07:17:43 -0600 )edit

add a comment

answered 2013-12-12 16:26:13 -0600

Chengarda
156 ●4 ●5 ●8

updated 2013-12-12 16:29:43 -0600

You can use the services of the omnipresent rosapi node, these are equivalent to the command line statements:

rosservice call rosapi/topics rosservice call rosapi/services

Roscpp

ros::ServiceClient topicfinder = n.serviceClient<rosapi::Topics>("rosapi/topics");
ros::ServiceClient servicesfinder = n.serviceClient<rosapi::Services>("rosapi/services");

rosapi::Topics topicsrv;
rosapi::Services servicessrv;

topicfinder.call(topicsrv);
servicesfinder.call(servicessrv);

Rospy

from rosapi.srv import Topics, Services

topics = rospy.ServiceProxy('/rosapi/topics', Topics)
services = rospy.ServiceProxy('/rosapi/services', Services)
topiclist = topics()
servicelist = services()

I've probably got some typos and mistakes in here, but that's the general gist.