How to get the URI of a ROS node in Python?

rosnode
uri

asked 2016-11-04 09:58:38 -0500

268 ●10 ●18 ●26 http://www.falkoschindler.de/

I'm trying to find machines that publish a certain type of message. Therefore I'm inspecting the list of rosnodes rosnode.rosnode_listnodes() and would like to get the IP address of the corresponding machines running a specific node.

There is a method rosnode.lookup_uri(...), but I have no idea how to use it. I also looked into the rospy, rosgraph, names and network modules - so far without success. Among other information,rosnode.rosnode_info(node_name) prints the URI. But it might be a rather expensive method and, unfortunately, it returns None.

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answered 2016-11-04 11:04:12 -0500

huanxiner
271 ●3 ●5 ●11

>>> import rosgraph
>>> master = rosgraph.Master('/mynode')
>>> master.lookupNode("node_name')

This worked for me, but not sure if it's safe to deal with ros master directly this way.

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Alternatively, you could use the Master API directly.

gvdhoorn ( 2016-11-05 07:10:04 -0500 )edit

Great, thanks! Apparently, you can even get the master via rosgraph.Master(''). It's definitely the answer I was looking for. :)

Falko ( 2016-11-07 03:08:20 -0500 )edit

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answered 2020-03-12 08:03:43 -0500

msadowski

311 ●11 ●16 ●24 http://weeklyrobotics.com/

updated 2020-03-12 18:06:14 -0500

jayess
6155 ●26 ●85 ●92

If you are looking into this 4 years later then this seems to work well:

rospy.get_node_uri()

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There are plenty of ways to get the IP of the current node. But the question was how to find the IP for another node publishing a certain message.

Falko ( 2020-03-13 03:06:20 -0500 )edit

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How to get the URI of a ROS node in Python?

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