Viewing EzROS Service Information

EzROS supports combining global parameters to realize “full information display” or “target node filtering display”. The specific usage for different scenarios is explained below:

Scenario 1: View All Nodes, Topics, and Services (Full Information)

Trigger a full scan using the -a/--all parameter to display complete information of all nodes in the network:

ezros -a
# or ezros --all

The terminal will print the following information:

Scanning the network... (estimated 2 seconds)
[███████████████████████████░░░] 90%
================================================================================
EzROS Network Node Information
================================================================================
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 Target Nodes (Only Display Nodes Containing the Target String)

Combine the -a/--all and -f/--filter parameters to display only information of nodes whose names contain the specified string (e.g., only view “gripper”-related nodes):

ezros -a -f gripper  # Filter to show nodes with "gripper" in their names

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

Scanning the network... (estimated 2 seconds)
[███████████████████████████░░░] 90%
================================================================================
EzROS Network Node Information
================================================================================
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’s 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 shows information of all nodes.

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