wrap rospy

[afdaniele]

We should try to wrap the functions we redefine in DTROS in the original rospy module.
Example, we want to use self.Publisher() instead of rospy.Publisher(), we can do something like this:

def wrapPublisher([args_for_rospy_Publisher]):
    print('WARNING: Your are using rospy.Publisher, use self.Publisher instead')
    return rospy._Publisher([args_for_rospy_Publisher])

rospy._Publisher = rospy.Publisher
rospy.Publisher = wrapPublisher

If we do this in DTROS.__init__(), then we can catch cases where we forget to use self.Publisher() instead of rospy.Publisher(). Everything will still work fine but at least we get a Warning.

[AleksandarPetrov]

@afdaniele I think that is a good idea, but complicates the code and will throw unnecessary warnings in the case that someone intentionally wants to use a publisher or subscriber that are not deactivated by the switch

[afdaniele]

Just something to keep in mind.
The easy fix to that would be

def wrapPublisher([args_for_rospy_Publisher], permanent=False):
    if not permanent:
        print('WARNING: Your are using rospy.Publisher, use self.Publisher instead')
    return rospy._Publisher([args_for_rospy_Publisher])

[afdaniele]

Let's not do this now, we can work on this later.