ROS Compatibility Layer

A Python package that provides a unified interface for writing nodes that work with both ROS1 (rospy) and ROS2 (rclpy).

Features

• Unified node initialization and management
• Common interface for publishers and subscribers
• Timer support
• Service client and server support
• Common message type handling
• Unified logging interface
• Time operations wrapper

Installation

# For ROS1 support
pip install ros-compat[ros1]

# For ROS2 support
pip install ros-compat[ros2]

Quick Start

from ros_compat import ROSNode
from std_msgs.msg import String

class MyNode(ROSNode):
    def __init__(self):
        super().__init__('my_node')
        self.pub = self.create_publisher('topic', String)
        self.create_subscription('input', String, self.callback)
        self.create_timer(1.0, self.timer_callback)

    def callback(self, msg):
        self.logger.info(f"Received: {msg.data}")

    def timer_callback(self):
        msg = String()
        msg.data = "Hello"
        self.pub.publish(msg)

if __name__ == '__main__':
    node = MyNode()
    node.spin()

API Reference

ROSNode

The base class for creating ROS nodes that work with both ROS1 and ROS2.

Methods

• create_publisher(topic: str, msg_type: Type, queue_size: int = 10) -> Publisher
• create_subscription(topic: str, msg_type: Type, callback: Callable, queue_size: int = 10) -> Subscriber
• create_timer(period: float, callback: Callable) -> Timer
• create_service(name: str, srv_type: Type, callback: Callable) -> Service
• create_client(name: str, srv_type: Type, timeout: Optional[float] = None) -> Client
• spin() -> None
• spin_once() -> None
• shutdown() -> None

ROSTime

Wrapper for ROS time operations.

Methods

• now() -> float: Get current ROS time in seconds
• sleep(duration: float) -> None: Sleep for specified duration

ROSLogger

Wrapper for ROS logging functions.

Methods

• info(msg: str) -> None
• warn(msg: str) -> None
• error(msg: str) -> None
• debug(msg: str) -> None

Examples

See the examples directory for complete example nodes.

License

MIT License