Niryo robot database

This package is charge of managing the robot’s database. It is used to store and retrieve information about the robot’s settings, versions, …

It belongs to the ROS namespace: /niryo_robot_database.

Database API functions

Database ROS wrapper

In order to control the robot more easily than calling each topics & services one by one, a Python ROS Wrapper has been built on top of ROS.

For instance, a script getting the robot name from the database via Python ROS Wrapper will looks like:

from niryo_robot_database.api import DatabaseRosWrapper

database = DatabaseRosWrapper()
robot_version = database.get_setting('robot_name')

API list

class niryo_robot_database.api.database_ros_wrapper.DatabaseRosWrapper(service_timeout=1)

Bases: object

get_setting(name)

Retrieve a setting from the database

Example

database.get_setting('purge_ros_logs_on_startup')

Parameters:

name (str) – the name of the setting

Returns:

the value of the setting

Return type:

object

set_setting(name, value)

Set a setting in the database

Example

database.set_setting('purge_ros_logs_on_startup', True)

Parameters:

• name (str) – the name of a setting

• value (object) – the value of the setting

Returns:

status, message

Return type:

(int, str)

exception niryo_robot_database.api.database_ros_wrapper.DatabaseRosWrapperException

Bases: Exception

Package Documentation

ROS topics

Publishers

Topic Name	Type	Description
/niryo_robot_database/setting_update	niryo_robot_database/Setting	N/A
/rosout	rosgraph_msgs/Log	N/A
/niryo_robot_database/setting_update	niryo_robot_database/SettingMsg	Publish the new setting when it has been changed in the database

Subscribers

Topic Name	Type	Description
/niryo_robot_hardware_interface/software_version	niryo_robot_msgs/SoftwareVersion	Publish the firmware version of hardware devices the robot

ROS Services

Service Name	Type	Description
/niryo_robot_database/file_paths/add	niryo_robot_database/AddFilePath	N/A
/niryo_robot_database/file_paths/get_all_by_type	niryo_robot_database/GetAllByType	N/A
/niryo_robot_database/file_paths/rm	niryo_robot_database/RmFilePath	N/A
/niryo_robot_database/get_db_file_path	niryo_robot_msgs/GetString	N/A
/niryo_robot_database/get_loggers	roscpp/GetLoggers	N/A
/niryo_robot_database/set_logger_level	roscpp/SetLoggerLevel	N/A
/niryo_robot_database/settings/get	niryo_robot_database/GetSettings	N/A
/niryo_robot_database/settings/set	niryo_robot_database/SetSettings	N/A
/niryo_robot_database/get_db_file_path	niryo_robot_msgs/GetString	Get the path to hte database file
/niryo_robot_database/settings/set	niryo_robot_database/SetSettings	Set a setting form the database
/niryo_robot_database/settings/get	niryo_robot_database/GetSettings	Get a setting from the database

ROS Parameters

Parameter Name	Default value	Simulation value	Unit	Description
/niryo_robot_database/database_path	~/niryo_robot_saved_files/.config	N/A	N/A	N/A
/niryo_robot_database/hardware_version	ned	N/A	N/A	N/A
/niryo_robot_database/initialized	True	N/A	N/A	N/A
/niryo_robot_database/log_level	INFO	N/A	N/A	N/A
/niryo_robot_database/database_path	~/niryo_robot_saved_files/.config	N/A	string	Path to the database file
/niryo_robot_database/hardware_version	ned	N/A	string	Hardware version of the robot
/niryo_robot_database/initialized	false	N/A	bool	Whether the database node has been initialized or not

ROS Action

Namespace: None