ros_sugar.robot_plugin

Module Contents

Classes

RobotPluginServiceClient

Template for creating robot specific plugin clients

Functions

create_supported_type

Add a new SupportedType derived class to the existing class

API

ros_sugar.robot_plugin.create_supported_type(ros_msg_type: type, converter: Optional[Callable] = None, callback: Optional[Callable] = None) → Type[ros_sugar.io.supported_types.SupportedType]

Add a new SupportedType derived class to the existing class

class ros_sugar.robot_plugin.RobotPluginServiceClient(client_node: rclpy.node.Node, srv_name: str = 'robot_serice_name', srv_type: Optional[type] = None)

Bases: ros_sugar.base_clients.ServiceClientHandler

Template for creating robot specific plugin clients

replace_publisher(current_publisher: ros_sugar.io.publisher.Publisher) → bool

Replace an existing publisher to parse its existing pre processors

property name: str

Get the service name

Returns:

Service name

Return type:

str

property msg_type: str

Get the service type

Returns:

Service type

Return type:

str

publish(*args, **kwargs) → bool

Publish service calls

abstractmethod start(*_) → bool

Implement any calls to execute on the start of the connection

abstractmethod end(*_) → bool

Implement any calls to execute on the end of the connection

send_request_from_dict(request_fields: Dict[str, Union[str, Dict]], executor: Optional[rclpy.executors.Executor] = None)

send_request(req_msg, executor: Optional[rclpy.executors.Executor] = None)