# {py:mod}`ros_sugar.core.action`

```{py:module} ros_sugar.core.action
```

```{autodoc2-docstring} ros_sugar.core.action
:allowtitles:
```

## Module Contents

### Classes

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`OpaqueFunction <ros_sugar.core.action.OpaqueFunction>`
  - ```{autodoc2-docstring} ros_sugar.core.action.OpaqueFunction
    :summary:
    ```
* - {py:obj}`OpaqueCoroutine <ros_sugar.core.action.OpaqueCoroutine>`
  - ```{autodoc2-docstring} ros_sugar.core.action.OpaqueCoroutine
    :summary:
    ```
* - {py:obj}`Action <ros_sugar.core.action.Action>`
  - ```{autodoc2-docstring} ros_sugar.core.action.Action
    :summary:
    ```
* - {py:obj}`LogInfo <ros_sugar.core.action.LogInfo>`
  - ```{autodoc2-docstring} ros_sugar.core.action.LogInfo
    :summary:
    ```
````

### API

````{py:class} OpaqueFunction(*, function: typing.Callable, args: typing.Optional[typing.Iterable[typing.Any]] = None, kwargs: typing.Optional[typing.Dict[typing.Text, typing.Any]] = None, **left_over_kwargs)
:canonical: ros_sugar.core.action.OpaqueFunction

Bases: {py:obj}`launch.actions.OpaqueFunction`

```{autodoc2-docstring} ros_sugar.core.action.OpaqueFunction
```

````

````{py:class} OpaqueCoroutine(*, coroutine: typing.Callable[..., typing.Awaitable[None]], args: typing.Optional[typing.Iterable[typing.Any]] = None, kwargs: typing.Optional[typing.Dict[typing.Text, typing.Any]] = None, ignore_context: bool = False, **left_over_kwargs)
:canonical: ros_sugar.core.action.OpaqueCoroutine

Bases: {py:obj}`launch.actions.OpaqueCoroutine`

```{autodoc2-docstring} ros_sugar.core.action.OpaqueCoroutine
```

````

`````{py:class} Action(method: typing.Callable, args: typing.Optional[typing.Union[typing.Tuple, typing.List, typing.Any]] = None, kwargs: typing.Optional[typing.Dict] = None)
:canonical: ros_sugar.core.action.Action

```{autodoc2-docstring} ros_sugar.core.action.Action
```

````{py:method} set_required_runtime_arguments(kwargs: typing.Dict[str, typing.Union[str, ros_sugar.io.supported_types.SupportedType, typing.Type]])
:canonical: ros_sugar.core.action.Action.set_required_runtime_arguments

```{autodoc2-docstring} ros_sugar.core.action.Action.set_required_runtime_arguments
```

````

````{py:method} get_required_topics() -> typing.List[ros_sugar.io.Topic]
:canonical: ros_sugar.core.action.Action.get_required_topics

```{autodoc2-docstring} ros_sugar.core.action.Action.get_required_topics
```

````

````{py:method} replace_input_topic(old_topic: ros_sugar.io.Topic, new_topic: ros_sugar.io.Topic)
:canonical: ros_sugar.core.action.Action.replace_input_topic

```{autodoc2-docstring} ros_sugar.core.action.Action.replace_input_topic
```

````

````{py:property} executable
:canonical: ros_sugar.core.action.Action.executable

```{autodoc2-docstring} ros_sugar.core.action.Action.executable
```

````

````{py:property} parent_component
:canonical: ros_sugar.core.action.Action.parent_component

```{autodoc2-docstring} ros_sugar.core.action.Action.parent_component
```

````

````{py:property} action_name
:canonical: ros_sugar.core.action.Action.action_name
:type: str

```{autodoc2-docstring} ros_sugar.core.action.Action.action_name
```

````

````{py:property} component_action
:canonical: ros_sugar.core.action.Action.component_action
:type: bool

```{autodoc2-docstring} ros_sugar.core.action.Action.component_action
```

````

````{py:property} dictionary
:canonical: ros_sugar.core.action.Action.dictionary
:type: typing.Dict

```{autodoc2-docstring} ros_sugar.core.action.Action.dictionary
```

````

````{py:method} deserialize_action(serialized_action_dict: typing.Dict, deserialized_method: typing.Callable) -> ros_sugar.core.action.Action
:canonical: ros_sugar.core.action.Action.deserialize_action
:classmethod:

```{autodoc2-docstring} ros_sugar.core.action.Action.deserialize_action
```

````

````{py:property} json
:canonical: ros_sugar.core.action.Action.json
:type: str

```{autodoc2-docstring} ros_sugar.core.action.Action.json
```

````

````{py:method} launch_action(monitor_node=None) -> typing.Union[ros_sugar.core.action.OpaqueCoroutine, ros_sugar.core.action.OpaqueFunction]
:canonical: ros_sugar.core.action.Action.launch_action

```{autodoc2-docstring} ros_sugar.core.action.Action.launch_action
```

````

`````

`````{py:class} LogInfo(*, msg: str, logger_name: typing.Optional[str] = None, **kwargs)
:canonical: ros_sugar.core.action.LogInfo

Bases: {py:obj}`launch.actions.LogInfo`

```{autodoc2-docstring} ros_sugar.core.action.LogInfo
```

````{py:method} execute(context: launch.LaunchContext) -> None
:canonical: ros_sugar.core.action.LogInfo.execute

```{autodoc2-docstring} ros_sugar.core.action.LogInfo.execute
```

````

`````