ctu-vras/snmp_ros

Utilities for working with SNMP from ROS

SNMP ROS

Utilities for working with SNMP from ROS.

This package only supports a very small subset of SNMP. Basically, just reading single OIDs from SNMPv1/v2 agents. Notably, the node currently cannot interpret MIBs. Pull requests for additional functionality are welcome.

Node snmp_reader

ROS node that allows reading OID values via SNMP into ROS topics or parameters.

Parameters

• ~agent_address (type string, default "127.0.0.1"): IP address of the SNMP agent.
• ~agent_port (type int, default 161): Port to connect to.
• ~community (type string, default "public"): The community to connect to.
• ~snmp_v2 (type bool, default True): If True, v2 is used, otherwise SNMP v1 is used.
• ~topics (type dict, default {}): List of OIDs that should be periodically read and published as topics.
  • Each item in topics is a dict with the following items:
  • oid (type string): The OID to read.
  • type (type string, default String): Type of the ROS message to parse the value as. Use ROS message type names like Int32.
  • topic (type string, defaults to the key of this dictionary entry): The topic to publish the value to. Prepend ~ to publish it as a private topic.
  • rate (type float, default 1.0): Publishing rate. If set to 0, the value is only read once and published latched.
• ~params (type dict, default {}): List of OIDs that should be read once and set as ROS parameters.
  • Each item in params is a dict with the following items:
  • oid (type string): The OID to read.
  • type (type string, default str): Type Python type to parse the value as. Use Python type names like int.
  • parameter (type string, defaults to the key of this dictionary entry): The parameter to set the value to. Prepend ~ to set a private parameter.

Published topics

• configured by the ~topics parameter.

Usage

Just run the snmp_reader node and pass it the required configuration. Look into the config folder for examples of the node configuration.