class BaseNode(object):
def __init__(self, namespace, node_name, launch_params):
self.node_name = node_name
self.params = launch_params
self.comms = Comms(namespace)
self.comms._connect_to_master_socket()
self.message_bus = self.comms.get_message_bus()
def get_param(self, param_name, default=None):
if param_name in self.params:
return self.params[param_name]
else:
return default
def setup(self):
pass
def run(self):
self.comms.process_messages()
