ros_sugar.launch.executable

Module Contents

Functions

run_component

Run the component using a MultiThreadedExecutor

executable_main

Executable main function to run a component as a ROS2 node in a new process. Used to start a node using Launcher

API

ros_sugar.launch.executable.run_component(component: object)

Run the component using a MultiThreadedExecutor

Parameters:

component (object) – Component to run

ros_sugar.launch.executable.executable_main(*, list_of_components: List[Type], list_of_configs: List[Type])

Executable main function to run a component as a ROS2 node in a new process. Used to start a node using Launcher

To use in your custom package based on ros_sugar:

  • Create an executable.py with a main and import your custom components and their config classes in it:

        #!/usr/bin/env python3
    from ros_sugar import executable_main

    my_components_list = ...
    my_configs_list = ...

    def main(args=None):
        executable_main(list_of_components=my_components_list, list_of_configs=my_configs_list)

  • Add your executable as an entry point in your custom package setup.py:

        from setuptools import find_packages, setup

    package_name = "my_awesome_pkg"

    console_scripts = [
        "executable = my_awesome_pkg.executable:main",
    ]

    setup(
        name=package_name,
        version="1",
        packages=find_packages(),
        install_requires=["setuptools"],
        zip_safe=True,
        maintainer="Cyberdyne Systems",
        maintainer_email="[email protected]",
        description="My awesome ROS2 sugar package",
        entry_points={
            "console_scripts": console_scripts,
        },
    )

  • Provide your package name and your entry point name to ros_sugar launcher in your script.

Parameters:

  • list_of_components (List[Type]) – List of all known Component classes in the package

  • list_of_configs (List[Type]) – List of all known ComponentConfig classes in the package

Raises:

  • ValueError – If component or component config are unknown classes

  • ValueError – If component cannot be started with provided arguments