ros_sugar.robot.feedback

Robot feedback descriptor.

A Feedback declares one telemetry stream a plugin exposes: which standard message type it stands in for, which transport carries it, and how to decode a raw inbound payload into a ROS message.

Module Contents

Classes

Feedback

A robot telemetry stream.

FeedbackSpec

Introspection record for a Feedback (see plugin.list_feedbacks).

API

class ros_sugar.robot.feedback.Feedback

Bases: ros_sugar.config.BaseAttrs

A robot telemetry stream.

Parameters:

  • key – Registry key on plugin.feedbacks. A recipe binds a topic to this feedback with Topic(..., use_plugin=True); resolution matches the topic’s name against this key first, then falls back to a unique message-type match. For plugins that expose exactly one feedback per message type, conventionally the message-type name ("Odometry", "Imu"). For plugins with multiple feedbacks of the same type (e.g. a humanoid’s "left_arm" / "right_arm" JointStates), choose a descriptive role name and name the recipe’s topic to match it.

  • msg_type – SupportedType subclass wrapping the robot’s message, typically built with :func:ros_sugar.robot.create_supported_type.

  • transport – Transport carrying this stream.

  • decoder – decoder(raw_payload) -> ros_msg | None — turns a raw inbound payload (bytes for UDP, response body for HTTP, SDK object for SDK) into a ROS message instance, or None to ignore this packet. Required for non-ROS transports; ignored for RosTopicTransport.

  • rate_hz – Nominal stream rate, for introspection/documentation.

  • description – Human-readable description.

property channel: str

Feedback bus channel / synthetic topic name for this stream.

as_topic() → ros_sugar.io.topic.Topic

Return the io.topic.Topic that Events, Conditions and MsgConditionBuilder reference for this feedback.

For a ROS-topic-backed feedback this is the ROS topic the robot publishes on; for any other transport it is a synthetic topic whose name is the feedback bus channel.

property is_ros_topic: bool

Whether this feedback is carried on a plain ROS topic (and therefore consumed via a native ROS subscription rather than the feedback bus).

spec() → ros_sugar.robot.feedback.FeedbackSpec

Return the introspection spec for this feedback.

asdict(filter: Optional[Callable] = None) → Dict
to_dict() → Dict
from_dict(dict_obj: Dict) → None
from_file(file_path: str, nested_root_name: Union[str, None] = None, get_common: bool = False) → bool
to_json() → Union[str, bytes, bytearray]
from_json(json_obj: Union[str, bytes, bytearray]) → None
has_attribute(attr_name: str) → bool
get_attribute_type(attr_name: str) → Optional[type]
update_value(attr_name: str, attr_value: Any) → bool
classmethod get_fields_info(class_object) → Dict[str, Dict[str, Any]]
class ros_sugar.robot.feedback.FeedbackSpec

Bases: ros_sugar.config.BaseAttrs

Introspection record for a Feedback (see plugin.list_feedbacks).

key is the registry key on plugin.feedbacks. To wire a topic to this feedback, set Topic(use_plugin=True) and name the topic after this key – needed when the plugin exposes multiple feedbacks of the same message type and a recipe must disambiguate. For plugins with exactly one feedback per type, use_plugin=True resolves by message type and the name need not match the key.

asdict(filter: Optional[Callable] = None) → Dict
to_dict() → Dict
from_dict(dict_obj: Dict) → None
from_file(file_path: str, nested_root_name: Union[str, None] = None, get_common: bool = False) → bool
to_json() → Union[str, bytes, bytearray]
from_json(json_obj: Union[str, bytes, bytearray]) → None
has_attribute(attr_name: str) → bool
get_attribute_type(attr_name: str) → Optional[type]
update_value(attr_name: str, attr_value: Any) → bool
classmethod get_fields_info(class_object) → Dict[str, Dict[str, Any]]