Topic_extract in pyros_client not working after rosinstance reinit.

[dhirajdhule]

I am trying to dynamically configure the topics, services list passed to pyros instance using setup method.. But the new instance is not able to extract topics. Call to services works with this renewed configuration.

Here is my piece of code which initializes a pyros_ros instance:

class PyrosClientOnROS(object, ):
    #TODO find out a way to get namespace without rospy preferably
    def __init__(self, enable_cache=False):
        #lets set minimum rosinstnace to get global namespace
        # self.rosInstance = PyrosROS(kwargs={'topics':['/abc'],'services':['/get_global_namespace'],'params':['/def'],'enable_cache': enable_cache})  # careful assuming the topic fullname here
        self.rosInstance = PyrosROS(kwargs={'topics':['/chatter','/.*'],'services':['/get_global_namespace'],'params':['/def'],'enable_cache': enable_cache})  # careful assuming the topic fullname here
        # setting up ros instance
        # TODO: Catch exceptions here
        cmd_conn = self.rosInstance.start()
        self.client = PyrosClient(cmd_conn)
        #wait for the client to come up
        time.sleep(3)
        self.__namespace() #sets up self.ros_ns to namespace 
        #prepend namespace to all topics from flyt
        #TODO how about adding non flyt stuff here
        #TOPICS, SERVICES, PARAMS are lists imported from config.py
        Topics = [self.ros_ns+x for x in TOPICS]
        Services = [self.ros_ns+x for x in SERVICES]
        Params = [self.ros_ns+x for x in PARAMS]

        #Reinitialize rosinterface with list of services and topics prepended with namespace
        self.rosInstance.setup(topics= Topics, services=Services , params= Params, enable_cache= enable_cache)  # careful assuming the topic fullname here
        cmd_conn = self.rosInstance.start()
        self.client = PyrosClient(cmd_conn)

We had discussed this earlier and I was using setup method until I realized this issue. Now I have moved on to regular expressions as you had suggested earlier like '/.*/servicename' to pass a topics/services with dynamic namespace.

We also had discussed about passing '/.*/' in topics list so that everything is exposed from ros. But when I tried this with some ~20 ros topics running, the rosinterface got stuck in creating rosinterface topics. @asmodehn have you tested this approach?

[asmodehn]

I don't remember testing this extensively... There are likely some bugs lying around... Probably a rosinterface bug. I added this method a bit later, and it looks like there isn't any unit test to confirm it works as expected yet. I don't do anything related to setup here

Please send a PR if you are able to isolate and reproduce this problem in a meaningful unit test. It would be a useful addition to the tests already there.

[Just1045523143]

hello @dhirajdhule, in your source code, why

#wait for the client to come up
 time.sleep(3)

[dhirajdhule]

@Just1045523143 going by the comments, it was to wait for the client to come up (which would be happening in separate thread).