[quote="hemantku, post:1, topic:5737"] * rospy has Exceptions like ROSInterruptException. I do not find an equivalent exception to use from rclpy. Is there some other package which defines these? [/quote] If it's not defined in `rclpy` then it's probably not defined anywhere. I don't know off the top of my head where this was being used in `rospy`, but it may make sense to have it in `rclpy` and it simply hasn't been ported yet. It might be connected to the init/shutdown or rate features that are still missing. [quote="hemantku, post:1, topic:5737"] * rospy.get_param is missing in rclpy. Will this be covered as part of this - https://github.com/ros2/rclpy/issues/186? Also, what is the alternative for this till then? Can I use the example in https://github.com/ros2/rclpy/blob/0db8fc763ead2cf3184f8c876f1be1bdd85944d8/rclpy/test/test_node.py#L77 ? [/quote] It is missing, but those issues I don't think are the best connection to that feature. I'd say: https://github.com/ros2/rclpy/issues/202 Which is being worked on now: https://github.com/ros2/rclpy/pull/214 [quote="hemantku, post:1, topic:5737"] rospy.Rate() is missing which I do guess will covered here: https://github.com/ros2/rclpy/issues/186 Any alternative? [/quote] Yes, that issue specifically mentions `Timer` and `Rate` concepts, which are dependent on finishing the "ROS Time" implementation in `rclpy`. [quote="hemantku, post:1, topic:5737"] Does rospy.is_shutdown seems to have been removed in rclp. How do we check for shutdown? Can we use rclpy.try_shutdown()? [/quote] It's not been explicitly removed as far as I know, it just hasn't been implemented yet. You could use `try_shutdown()` to test, but if you only wanted to test you'd be out of luck since the side-effect would be a shutdown in many cases. This feature is captured in this issue (in my opinion): https://github.com/ros2/rclpy/issues/190 Which it seems you've already found and offered to help (thanks!). --- [Visit Topic](https://discourse.ros.org/t/mapping-between-rospy-and-rclpy/5737/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: