ros_sugar.base_clients

ros_sugar.base_clients#

ROS Service/Action Client Wrapper

Module Contents#

Classes#

ServiceClientConfig

Basic configuration for any ROS service client

ActionClientConfig

Basic configuration for any ROS action client

ServiceClientHandler

General purpose service client class

ActionClientHandler

General purpose action client class

API#

class ros_sugar.base_clients.ServiceClientConfig#

Bases: ros_sugar.config.BaseAttrs

Basic configuration for any ROS service client

asdict(filter: Optional[Callable] = None) → Dict#
from_dict(dict_obj: Dict) → None#
from_yaml(file_path: str, nested_root_name: str | None = None, get_common: bool = False) → None#
to_json() → Union[str, bytes, bytearray]#
from_json(json_obj: Union[str, bytes, bytearray]) → None#
has_attribute(attr_name: str) → bool#
get_attribute_type(attr_name: str) → Optional[type]#
update_value(attr_name: str, attr_value: Any) → bool#
class ros_sugar.base_clients.ActionClientConfig#

Bases: ros_sugar.config.BaseAttrs

Basic configuration for any ROS action client

asdict(filter: Optional[Callable] = None) → Dict#
from_dict(dict_obj: Dict) → None#
from_yaml(file_path: str, nested_root_name: str | None = None, get_common: bool = False) → None#
to_json() → Union[str, bytes, bytearray]#
from_json(json_obj: Union[str, bytes, bytearray]) → None#
has_attribute(attr_name: str) → bool#
get_attribute_type(attr_name: str) → Optional[type]#
update_value(attr_name: str, attr_value: Any) → bool#
class ros_sugar.base_clients.ServiceClientHandler(client_node: ros_sugar.core.BaseNode, config: Optional[ros_sugar.base_clients.ServiceClientConfig] = None, srv_name: Optional[str] = None, srv_type: Optional[type] = None)#

General purpose service client class

send_request(req_msg, executor: Optional[rclpy.executors.Executor] = None)#

Sends a request to the service returns the response In case of failure, the method attempts sending the request again multiple time according to the given config

Parameters:

req_msg (Any) – Service request msg

Returns:

Service result

Return type:

Any

class ros_sugar.base_clients.ActionClientHandler(client_node: ros_sugar.core.BaseNode, config: Optional[ros_sugar.base_clients.ActionClientConfig] = None, action_name: Optional[str] = None, action_type: Optional[type] = None)#

General purpose action client class

reset()#

Resst the client handler

send_request(request_msg: Any, wait_until_first_feedback: bool = True) → bool#

Sends a request to an action server

Parameters:

  • request_msg (Action_Type.Goal) – Action request message

  • wait_until_first_feedback (bool, optional) – Wait until the server returns its first feedback, defaults to True

Returns:

If action server is available

Return type:

bool

action_response_callback(future)#

Callback when getting the action server responses

Parameters:

future (Any) – Action result future

action_result_callback(future)#

Treats the path tracker action result

Parameters:

future (Any) – Action result future

action_feedback_callback(feedback_msg: Any)#

Method to be called at each action feedback

Parameters:

feedback_msg (Any) – Action feedback message

got_new_feedback() → bool#

Checks if the client got a new feedback from the server within a specified time limit

Returns:

Feedback updated on time

Return type:

bool