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Roslisp Usage

Supplement to roslisp wiki

Manage Node​

start-ros-node​

(start-ros-node "node_name")
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shutdown-ros-node​

(shutdown-ros-node)

with-ros-node​

(with-ros-node ("node_name")

  (...))



;; for long running task/service, use:

(with-ros-node ("node_name" :spin t)

  (...))

node-status​

(node-status)

;; returns either :running or :shutdown

Messages​

make-message​

;; use symbol as msg-type

(make-message 'std_msgs-msg:String

              :data "Hello World")



;; use string as msg-type

(make-message "std_msgs/String"

              :data "Hello World")



;; fill in nested fields

(make-message "geometry_msgs/PoseStamped"

              :header (make-message "std_msgs/Header"

                                    :frame_id "map")

              (:w :orientation :pose) 1.0)

symbol-codes​

;; use symbol as msg-type

(symbol-codes 'sensor_msgs-msg:Range)



;; use instance as msg-type

(symbol-codes (make-message "sensor_msgs/Range"))



;; returns: ((:ULTRASOUND . 0) (:INFRARED . 1))

symbol-code​

(symbol-code 'sensor_msgs-msg:Range :ultrasound)

;; returns: 0

code-symbols​

(code-symbols 'visualization_msgs-msg:Marker 0)

;; returns: ((:ARROW . 0) (:ADD . 0) (:MODIFY . 0))

code-symbol​

(code-symbol 'visualization_msgs-msg:Marker 0)

;; returns: :ARROW (first found)

Time​

ros-time​

(ros-time)

;; returns the number of seconds since January 1st, 1970
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Logging​

ros-info​

(ros-info (foo bar) "Hello, ~A" "World")

;; outputs: [(FOO BAR) INFO] 1625730154.129: Hello, World



(ros-info (monitor) (< battery-level 20) "Battery Low")

;; The second argument can be a condition, works like `ROS_INFO_COND` in roscpp
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