ros_sugar.core.node

ros_sugar.core.node#

Module Contents#

Classes#

BaseNode

BaseNode.

API#

class ros_sugar.core.node.BaseNode(node_name: str, node_config: Optional[ros_sugar.config.BaseConfig] = None, callback_group=None, start_on_init: bool = True, *args, **kwargs)#

Bases: rclpy.node.Node

BaseNode.

rclpy_init_node(*args, **kwargs)#

To init the node with rclpy and activate default services

configure(config_file: str)#

Configure component from yaml file

Parameters:

config_file (str) – Path to file

add_execute_once(method: Callable)#

Add method to be executed once when the component is started

Parameters:

method (Callable) – Callable to be executed

add_execute_in_loop(method: Callable)#

Add method to be executed each loop_step in the component

Parameters:

method (Callable) – Callable to be executed

get_ros_time() → builtin_interfaces.msg.Time#

Helper method to get ROS time from the node

Returns:

ROS time now

Return type:

Time

get_secs_time() → float#

Gets the current ROS time as float in seconds

Parameters:

node (Node) – ROS node

Returns:

ROS time as float

Return type:

float

property launch_cmd_args: List[str]#

List of command line arguments

Returns:

ROS launch command line arguments

Return type:

List[str]

property config_json: Union[str, bytes]#

Component config as a json string

Returns:

Config json

Return type:

str

activate()#

Create required subscriptions, publications, timers, … etc. to activate the node

deactivate()#

Destroy all declared subscriptions, publications, timers, … etc. to deactivate the node

setup_qos(qos_policy: ros_sugar.config.QoSConfig) → rclpy.qos.QoSProfile#

Setup QoS profile from given QoSConfig

Parameters:

qos_policy (QoSConfig) – QoS policy config parameters

Returns:

QoS Profile to use in ros publishers/subscribers

Return type:

rclpy.qos.QoSProfile

init_flags()#

Set up node flags

init_variables()#

Set up node variables

create_tf_listener(tf_config: ros_sugar.tf.TFListenerConfig) → ros_sugar.tf.TFListener#

Creates a new transform listener to lookup a transform with given config and return the transform lookup handler

Parameters:

tf_config (TFListenerConfig) – Transform listener config

Returns:

Transform lookup handler object

Return type:

TransformListener

create_client(*args, **kwargs) → rclpy.client.Client#

Overwrites the Node create client method to add to the clients list

Returns:

ROS service client

Return type:

rclpy.client.Client

create_all_subscribers()#

Creates all node subscribers

create_all_publishers()#

Creates all node publishers

create_all_services()#

Creates all node service servers

create_all_service_clients()#

Creates all node service clients

create_all_action_servers()#

Creates all node action servers

create_all_action_clients()#

Creates all node action clients

create_all_timers()#

Creates all node timers

destroy_all_subscribers()#

Destroys all node subscribers

destroy_all_publishers()#

Destroys all node publishers

destroy_all_services()#

Destroys all node services

destroy_all_action_servers()#

Destroys all action servers

destroy_all_action_clients()#

Destroys all action clients

destroy_all_service_clients()#

destroy_all_service_clients.

destroy_all_timers()#

destroy_all_timers.

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