def __init__(self,
node_name,
*,
cli_args=None,
namespace=None,
use_global_arguments=True):
self._handle = None
self.publishers = []
self.subscriptions = []
self.clients = []
self.services = []
self.timers = []
self.guards = []
self._default_callback_group = MutuallyExclusiveCallbackGroup()
namespace = namespace or ''
if not ok():
raise NotInitializedException('cannot create node')
try:
self._handle = _rclpy.rclpy_create_node(node_name, namespace,
cli_args,
use_global_arguments)
except ValueError:
# these will raise more specific errors if the name or namespace is bad
validate_node_name(node_name)
# emulate what rcl_node_init() does to accept '' and relative namespaces
if not namespace:
namespace = '/'
if not namespace.startswith('/'):
namespace = '/' + namespace
validate_namespace(namespace)
# Should not get to this point
raise RuntimeError('rclpy_create_node failed for unknown reason')
self._logger = get_logger(
_rclpy.rclpy_get_node_logger_name(self.handle))
def spin(node):
# imported locally to avoid loading extensions on module import
from rclpy.executors import SingleThreadedExecutor
executor = SingleThreadedExecutor()
try:
executor.add_node(node)
while ok():
executor.spin_once()
finally:
executor.shutdown()
def __init__(self,
node_name,
*,
cli_args=None,
namespace=None,
use_global_arguments=True,
start_parameter_services=True):
self._handle = None
self._parameters = {}
self.publishers = []
self.subscriptions = []
self.clients = []
self.services = []
self.timers = []
self.guards = []
self._default_callback_group = MutuallyExclusiveCallbackGroup()
self._parameters_callback = None
namespace = namespace or ''
if not ok():
raise NotInitializedException('cannot create node')
try:
self._handle = _rclpy.rclpy_create_node(node_name, namespace,
cli_args,
use_global_arguments)
except ValueError:
# these will raise more specific errors if the name or namespace is bad
validate_node_name(node_name)
# emulate what rcl_node_init() does to accept '' and relative namespaces
if not namespace:
namespace = '/'
if not namespace.startswith('/'):
namespace = '/' + namespace
validate_namespace(namespace)
# Should not get to this point
raise RuntimeError('rclpy_create_node failed for unknown reason')
self._logger = get_logger(
_rclpy.rclpy_get_node_logger_name(self.handle))
# Clock that has support for ROS time.
# TODO(dhood): use sim time if parameter has been set on the node.
self._clock = ROSClock()
self._time_source = TimeSource(node=self)
self._time_source.attach_clock(self._clock)
self.__executor_weakref = None
if start_parameter_services:
self._parameter_service = ParameterService(self)
def spin(node):
"""
Execute work blocking until the library is shutdown.
Callbacks will be executed in a SingleThreadedExecutor until shutdown() is called.
This method blocks.
:param node: A node to add to the executor to check for work.
:return: Always returns None regardless whether work executes or timeout expires.
:rtype: None
"""
executor = get_global_executor()
try:
executor.add_node(node)
while ok():
executor.spin_once()
finally:
executor.remove_node(node)
def spin_until_future_complete(self, future):
"""Execute until a given future is done."""
while ok() and not future.done():
self.spin_once()
def spin(self):
"""Execute callbacks until shutdown."""
while ok():
self.spin_once()