`ros_sugar.io.supported_types`¶

ROS Topics Supported Message Types

Module Contents¶

Classes¶

`Meta`	Meta.
`SupportedType`	Class used to define all supported data types (ROS messages) callback: Callback associated with specified type _publish: ROS message creation method associate with specified type
`String`	String.
`Bool`	Bool.
`Float32`	Float32.
`Float32MultiArray`	Float32MultiArray.
`Float64`	Float64.
`Float64MultiArray`	Float64MultiArray.
`Image`	Image.
`CompressedImage`	CompressedImage format usually provided by camera vendors
`Audio`	Audio.
`MapMetaData`	MapMetaData.
`Odometry`	Odometry
`LaserScan`	LaserScan
`Path`	Path
`OccupancyGrid`	OccupancyGrid
`Point`	Point
`PointStamped`	PointStamped
`Pose`	Pose
`PoseStamped`	PoseStamped
`ComponentStatus`	Component Health Status
`Twist`	Twist for Control Commands

Functions¶

`add_additional_datatypes`	Add additional SupportedType classes to the list of supported ROS2 messages
`get_ros_msg_fields_dict`	Parses the fields names and types from any ROS message into a dict. Handles nested messages and arrays.
`set_ros_msg_from_dict`	Creates a ROS message object from a dictionary structure.

API¶

ros_sugar.io.supported_types.add_additional_datatypes(types: List[type]) → None¶

Add additional SupportedType classes to the list of supported ROS2 messages

Parameters:: types (List[type]) – List of supported types

ros_sugar.io.supported_types.get_ros_msg_fields_dict(msg_class: type) → Dict[str, Any]¶

Parses the fields names and types from any ROS message into a dict. Handles nested messages and arrays.

Returns:: Dict where value is type string, or nested dict (or list of dicts for arrays)

ros_sugar.io.supported_types.set_ros_msg_from_dict(msg_class: type, data_dict: Dict[str, Any]) → Any¶

Creates a ROS message object from a dictionary structure.

Parameters:

msg_class – The ROS message class to instantiate (e.g., geometry_msgs.msg.Point)
data_dict – Dictionary containing the values (keys must match message fields)

Returns:

An instance of msg_class populated with data

class ros_sugar.io.supported_types.Meta¶

Bases: type

Meta.

class ros_sugar.io.supported_types.SupportedType¶

Class used to define all supported data types (ROS messages) callback: Callback associated with specified type _publish: ROS message creation method associate with specified type

classmethod convert(*output, **_) → Any¶

ROS message converter function for datatype

Parameters:: args
Return type:: Any

classmethod get_ros_type() → type¶

Getter of the ROS2 message type

Returns:: ROS2 type
Return type:: type

class ros_sugar.io.supported_types.String¶

Bases: ros_sugar.io.supported_types.SupportedType

String.

classmethod convert(output: str, **_) → std_msgs.msg.String¶

Takes a string and returns a ROS message of type String

Returns:: String

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.Bool¶

Bases: ros_sugar.io.supported_types.SupportedType

Bool.

classmethod convert(output: bool, **_) → std_msgs.msg.Bool¶

Takes a bool and returns a ROS message of type Bool

Returns:: Bool

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.Float32¶

Bases: ros_sugar.io.supported_types.SupportedType

Float32.

classmethod convert(output: float, **_) → std_msgs.msg.Float32¶

Takes a float and returns a ROS message of type Float32

Returns:: Float32

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.Float32MultiArray¶

Bases: ros_sugar.io.supported_types.SupportedType

Float32MultiArray.

classmethod convert(output: numpy.ndarray, **_) → std_msgs.msg.Float32MultiArray¶

Takes a numpy array and returns a ROS message of type Float32MultiArray

Returns:: Float32

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.Float64¶

Bases: ros_sugar.io.supported_types.SupportedType

Float64.

classmethod convert(output: float, **_) → std_msgs.msg.Float64¶

Takes a float and returns a ROS message of type Float64

Returns:: Float64

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.Float64MultiArray¶

Bases: ros_sugar.io.supported_types.SupportedType

Float64MultiArray.

classmethod convert(output: numpy.ndarray, **_) → std_msgs.msg.Float64MultiArray¶

Takes a numpy array and returns a ROS message of type Float64MultiArray

Returns:: Float32

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.Image¶

Bases: ros_sugar.io.supported_types.SupportedType

Image.

classmethod convert(output: Union[sensor_msgs.msg.Image, numpy.ndarray], **_) → sensor_msgs.msg.Image¶

Takes a ROS Image message or numpy array and returns a ROS Image message

Returns:: ROSImage

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.CompressedImage¶

Bases: ros_sugar.io.supported_types.Image

CompressedImage format usually provided by camera vendors

classmethod convert(output: Union[sensor_msgs.msg.CompressedImage, numpy.ndarray], **_) → sensor_msgs.msg.CompressedImage¶

Takes a ROS CompressedImage message or numpy array and returns a ROS CompressedImage message

Returns:: ROSCompressedImage

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.Audio¶

Bases: ros_sugar.io.supported_types.SupportedType

Audio.

classmethod convert(output: Union[str, bytes], **_) → std_msgs.msg.ByteMultiArray¶

Takes an array of audio data and returns a ROS message of type AudioData

Returns:: AudioData

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.MapMetaData¶

Bases: ros_sugar.io.supported_types.SupportedType

MapMetaData.

classmethod convert(*output, **_) → Any¶

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.Odometry¶

Bases: ros_sugar.io.supported_types.SupportedType

Odometry

classmethod convert(*output, **_) → Any¶

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.LaserScan¶

Bases: ros_sugar.io.supported_types.SupportedType

LaserScan

classmethod convert(*output, **_) → Any¶

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.Path¶

Bases: ros_sugar.io.supported_types.SupportedType

Path

classmethod convert(output, **_) → Any¶

ROS message converter function for datatype

Parameters:: args
Return type:: Any

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.OccupancyGrid¶

Bases: ros_sugar.io.supported_types.SupportedType

OccupancyGrid

classmethod convert(output: Union[numpy.ndarray, nav_msgs.msg.OccupancyGrid], resolution: float, origin: Optional[geometry_msgs.msg.Pose] = None, **_) → nav_msgs.msg.OccupancyGrid¶

ROS message converter function for datatype OccupancyGrid.

Parameters:

output (np.ndarray)
_

Return type:

ROSOccupancyGrid

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.Point¶

Bases: ros_sugar.io.supported_types.SupportedType

Point

classmethod convert(output: numpy.ndarray, **_) → geometry_msgs.msg.Point¶

ROS message converter function for datatype Point.

Parameters:

output (np.ndarray)
_

Return type:

ROSPoint

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.PointStamped¶

Bases: ros_sugar.io.supported_types.Point

PointStamped

classmethod convert(output: numpy.ndarray, **_) → geometry_msgs.msg.PointStamped¶

ROS message converter function for datatype Point.

Parameters:

output (np.ndarray)
_

Return type:

ROSPointStamped

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.Pose¶

Bases: ros_sugar.io.supported_types.SupportedType

Pose

classmethod convert(output: numpy.ndarray, **_) → geometry_msgs.msg.Pose¶

ROS message converter function for datatype Point.

Parameters:

output (np.ndarray)
_

Return type:

ROSPose

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.PoseStamped¶

Bases: ros_sugar.io.supported_types.Pose

PoseStamped

classmethod convert(output: numpy.ndarray, **_) → geometry_msgs.msg.PoseStamped¶

ROS message converter function for datatype Point.

Parameters:

output (np.ndarray)
_

Return type:

ROSPoseStamped

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.ComponentStatus¶

Bases: ros_sugar.io.supported_types.SupportedType

Component Health Status

classmethod convert(*output, **_) → Any¶

classmethod get_ros_type() → type¶

class ros_sugar.io.supported_types.Twist¶

Bases: ros_sugar.io.supported_types.SupportedType

Twist for Control Commands

classmethod convert(vx: float, vy: float, omega: float, **_) → geometry_msgs.msg.Twist¶

ROS message converter function for datatype Point.

Parameters:

output (np.ndarray)
_

Return type:

ROSPoseStamped

classmethod get_ros_type() → type¶

ros_sugar.io.supported_types¶

Module Contents¶

Classes¶

Functions¶

API¶

`ros_sugar.io.supported_types`¶