View EzROS Service Information

EzROS supports combining global parameters to achieve “full information display” or “specified node filtering display”. The specific usage for each scenario is explained below:

Scenario 1: View All Nodes, Topics, and Services (Full Information) Trigger a full scan via the -a/--all parameter to display complete information of all nodes in the network:

ezros -a
# 或者 ezros --all

The terminal prints the following information:

扫描网络中... (预计 2 秒)
[███████████████████████████░░░] 90%
================================================================================
EzROS 网络节点信息
================================================================================
1. Node: gripper_d672f584b17a (udp/192.168.1.127:46067)
  Topics:
    - gripper_d672f584b17a
  Services:
    - gripper_d672f584b17a: [set_led_color, restart_control_subscriber]

2. Node: master_d672f584b17a (udp/192.168.1.127:59477)
  Services:
    - master_d672f584b17a: [scan_sensor_sn, kill_sensor, launch_camera, launch_gripper, list_camera, reboot, kill_camera, launch_sensor, kill_gripper]

Scenario 2: Filter and View Specified Nodes (Display Only Nodes Containing Target String) Combine the -a/--all and -f/--filter parameters to display only information of nodes whose names contain the specified string (e.g., view only “gripper”-related nodes):

ezros -a -f gripper  # 过滤节点名包含"gripper"的信息

The terminal prints the following information (only nodes containing “gripper” are retained):

扫描网络中... (预计 2 秒)
[███████████████████████████░░░] 90%
================================================================================
EzROS 网络节点信息
================================================================================
1. Node: gripper_d672f584b17a (udp/192.168.1.127:58614)
  Topics:
    - gripper_d672f584b17a
  Services:
    - gripper_d672f584b17a: [restart_control_subscriber, set_led_color]

In both scenarios, the string “d672f584b17a” after the node name represents the device MAC address, which can be used to create a gripper instance:

from xensegripper import XenseGripper

gripper = XenseGripper.create("d672f584b17a")

Tips

  • -a/--all: A global parameter used to trigger the “full information display” function, which scans and displays information of all nodes.

  • -f/--filter: A global parameter that must be used with -a to filter node names containing the specified string (matches all nodes by default). For example, ezros -a -f master can display only information of nodes whose names contain “master”.