ros_sugar.launch.launch_actions

Module Contents

Classes

ComponentLaunchAction

ComponentLaunchAction.

API

class ros_sugar.launch.launch_actions.ComponentLaunchAction(*, node: Union[ros_sugar.core.component.BaseComponent, ros_sugar.core.BaseNode], name: Union[str, List[launch.Substitution], None] = 'node_name', namespace: Union[str, List[launch.Substitution], None] = None, log_level: rclpy.impl.logging_severity.LoggingSeverity = LoggingSeverity.INFO, **kwargs)

Bases: launch_ros.actions.Node

ComponentLaunchAction.

property name: Union[str, List[launch.Substitution], None]

Node name getter

Returns:

description

Return type:

str

execute(context: launch.LaunchContext) → Optional[List[launch.action.Action]]

Overrides execute action of launch_ros.actions.Node

1- Adds the _on_internal_event method which emits the event to launch to every event handler in the monitor. This allows all internal events to be declared tl launch context on trigger

2- Inits and activates a Monitor node

3- Executes the Monitor node in a separate thread

Delegated to :meth:launch.actions.ExecuteProcess.execute.

property executor

Getter of component executor

Returns:

description

Return type:

type

shutdown()

Shutdown Node