Topics

Topics#

Sugarcoat provides classes to configure a ROS2 topics as a Component Input/Output.

Topic Configuration Class#

  • Configured using:

  1. name: [str], ROS2 topic name.

  2. msg_type: [Union[ros_sugar.supported_types.SupportedType, str]], ROS2 message type, passed as a string or as a type.

  3. qos_profile: QoSConfig, See usage in example below.

  • Provides:

ros_msg_type: [type], Provides the ROS2 message type of the topic.

Usage Example#

from ros_sugar.config import Topic, QoSConfig

qos_conf = QoSConfig(
    history=qos.HistoryPolicy.KEEP_LAST,
    queue_size=20,
    reliability=qos.ReliabilityPolicy.BEST_EFFORT,
    durability=qos.DurabilityPolicy.TRANSIENT_LOCAL
)

topic = Topic(name='/local_map', msg_type='OccupancyGrid', qos_profile=qos_conf)
Contents