ros_sugar.robot_plugin

ros_sugar.robot_plugin#

Module Contents#

Classes#

RobotPluginServiceClient

Template for creating robot specific plugin clients

Functions#

create_supported_type

Add a new SupportedType derived class to the existing class

API#

ros_sugar.robot_plugin.create_supported_type(ros_msg_type: type, converter: Optional[Callable] = None, callback: Optional[Callable] = None) → type[ros_sugar.io.supported_types.SupportedType]#

Add a new SupportedType derived class to the existing class

class ros_sugar.robot_plugin.RobotPluginServiceClient(client_node: rclpy.node.Node, srv_name: str = 'robot_serice_name', srv_type: Optional[type] = None)#

Bases: ros_sugar.base_clients.ServiceClientHandler

Template for creating robot specific plugin clients

replace_publisher(current_publisher: ros_sugar.io.publisher.Publisher) → bool#

Replace an existing publisher to parse its existing pre processors

property name: str#

Get the service name

Returns:

Service name

Return type:

str

property msg_type: str#

Get the service type

Returns:

Service type

Return type:

str

publish(*args, **kwargs) → bool#

Publish service calls

abstractmethod start(*_) → bool#

Implement any calls to execute on the start of the connection

abstractmethod end(*_) → bool#

Implement any calls to execute on the end of the connection

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