ros_sugar.robot.types#

Dynamic SupportedType construction for robot plugins.

create_supported_type wraps a robot’s custom ROS message in a io.supported_types.SupportedType subclass, optionally with a converter (python output -> ROS message, for commands) and a callback (ROS message -> python value, for feedback).

Module Contents#

Functions#

create_supported_type

Add a new SupportedType derived class wrapping ros_msg_type.

API#

ros_sugar.robot.types.create_supported_type(ros_msg_type: type, converter: Optional[Callable] = None, callback: Optional[Callable] = None, module: Optional[str] = None) → Type[ros_sugar.io.supported_types.SupportedType]#

Add a new SupportedType derived class wrapping ros_msg_type.

Parameters:

  • ros_msg_type – A valid ROS2 message type.

  • converter – converter(output) -> ros_msg_type — python value to ROS message; its return annotation must equal ros_msg_type.

  • callback – callback(msg: ros_msg_type) -> <python type> — ROS message to python value; its first-arg annotation must equal ros_msg_type and its return annotation must be a non-ROS python type.

  • module – Module path the type is registered under. Defaults to the caller’s module. Together with name this forms the registry key, so it must be the module the bound variable actually lives in.

Returns:

The newly registered SupportedType subclass.