ROS Package bob_topic_tools
This ROS Package is part of Bob’s NLP and LLM tools.
The contained ROS Nodes are a collection of std_msgs/String topic tools. It extends the already existing ROS package topic_tools but more dedicated to NLP tasks.
ROS Node Filter
String topic filter ROS node. It supports also dynamic parameter reconfigure during runtime.
Parameter
Parameter name: white_filter
Type: string array
Description: String array with white list rules.
Parameter name: black_filter
Type: string array
Description: String array with blacklist rules.
Parameter name: white_list
Type: string
Description: White list file. This overides parameter white_filter.
Format: Yaml file with a list of string containing regex rules.
Parameter name: black_list
Type: string
Description: Black list file. This overides parameter black_filter.
Format: Yaml file with a list of strings containing regex rules.
Parameter name: substitute
Type: string array
Description: Substitute regex for the string message similar to python re.sub
Expects an array with two entries: [‘pattern’,’replace’]
Subscribed Topics
~topic_in (std_msgs/String)
Read input data from topic.
Published Topics
~topic_out (std_msgs/String)
Publish filtered output.
~topic_rejected (std_msgs/String)
Publish rejected output.
ROS Node Stream Filter
String Stream topic filter node. Can redirect text portion enclosured in start/end tags.
Parameter
Parameter name: buffer_size
Type: integer
Description: Input buffer size, default: 65565
Parameter name: end_tag
Type: string
Description: End tag of the area to filter out, default ‘’
Parameter name: start_tag
Type: string
Description: Start tag of the area to sort out, default ‘’
Parameter name: window_size
Type: integer
Description: Rolling window size to detect the tags. This should be > then max tag length, default: 64
Subscribed Topics
~stream_in (std_msgs/String)
Read input string stream from topic
Published Topics
~stream_out (std_msgs/String)
Publish data outside of the enclosing tags.
~stream_filtered (std_msgs/String)
Publish data within the enclosing tags.
ROS Node Aggregator
String Stream aggregator node.
Parameter
Parameter name: delimeters
Type: string
Description: Delimeter character list where to stop aggregating the input and publish the aggregated data to the ouput topic. This parameter can also be set via environment variable AGGREGATOR_DELIMETERS, default ‘.:,;!?-*\n\t’
Subscribed Topics
~stream_in (std_msgs/String)
Read input string stream from topic.
Published Topics
~stream_out (std_msgs/String)
Publish aggregated output.
ROS Node Terminal
Basic String topic IO terminal ROS Node.
Dependencies
The required QT5 libraries should already exist if ROS is installed. If missing use below installation to get them.
sudo apt-get install python3-pyqt5
Usage
# run frameless terminal window using ROS parameter
ros2 run bob_topic_tools terminal --ros-args -p frameless:=true -p geometry:=[300,300,600,480]
# show window on another display
# the node can also read from stdin source
# display what will be received from socket
netcat -U /tmp/some.sock | ros2 run bob_topic_tools terminal --ros-args -p display:=1 -p geometry:=[300,300,600,480]
Parameter
Parameter name: display
Type: integer
Description: Display where to show window.
Parameter name: fontname
Type: string
Description: Window fontname.
Parameter name: fontsize
Type: integer
Description: Window fontsize.
Parameter name: frameless
Type: boolean
Description: Switch off window caption.
Parameter name: geometry
Type: integer array
Description: Window geometry. [x, y, with, height]
Parameter name: input
Type: boolean
Description: Enables or disables the text input field.
Parameter name: line_count
Type: integer
Description: Maximum line count in the text area. 0 = unlimited
If the number exceeds the lines are removed from the top.
Parameter name: margin
Type: integer array
Description: Window inner margin. [left, top, right, bottom]
Parameter name: opacity
Type: double
Description: Window opacity.
Parameter name: stylesheet
Type: string
Description: Stylesheet qss of PlainText area.
Parameter name: stylesheet_window
Type: string
Description: Stylesheet qss of Window area.
Parameter name: title
Type: string
Description: Title of window.
Subscribed Topics
~topic_in (std_msgs/String)
Read input data from topic in addition to be able to read data from stdin.
Published Topics
~topic_out (std_msgs/String)
Publish to output.