def init(self,
args: Optional[List[str]] = None,
*,
initialize_logging: bool = True,
domain_id: Optional[int] = None):
"""
Initialize ROS communications for a given context.
:param args: List of command line arguments.
"""
# imported locally to avoid loading extensions on module import
from rclpy.impl.implementation_singleton import rclpy_implementation
global g_logging_ref_count
with self._handle as capsule, self._lock:
if domain_id is not None and domain_id < 0:
raise RuntimeError(
'Domain id ({}) should not be lower than zero.'
.format(domain_id))
rclpy_implementation.rclpy_init(
args if args is not None else sys.argv,
capsule,
domain_id)
if initialize_logging and not self._logging_initialized:
with g_logging_configure_lock:
g_logging_ref_count += 1
if g_logging_ref_count == 1:
rclpy_implementation.rclpy_logging_configure(capsule)
self._logging_initialized = True
def init(self, args: Optional[List[str]] = None):
"""
Initialize ROS communications for a given context.
:param args: List of command line arguments.
"""
# imported locally to avoid loading extensions on module import
from rclpy.impl.implementation_singleton import rclpy_implementation
with self._handle as capsule, self._lock:
rclpy_implementation.rclpy_init(
args if args is not None else sys.argv, capsule)
def init(*, args=None):
# This line changes what is in "_rclpy" to be the rmw implementation module that was imported.
implementation_singleton.set_rclpy_implementation(
rmw_implementation_tools.import_rmw_implementation())
# Now we can use _rclpy to call the implementation specific rclpy_init().
return _rclpy.rclpy_init(args if args is not None else sys.argv)
def init(self, args: Optional[List[str]] = None, *, initialize_logging: bool = True):
"""
Initialize ROS communications for a given context.
:param args: List of command line arguments.
"""
# imported locally to avoid loading extensions on module import
from rclpy.impl.implementation_singleton import rclpy_implementation
global g_logging_ref_count
with self._handle as capsule, self._lock:
rclpy_implementation.rclpy_init(args if args is not None else sys.argv, capsule)
if initialize_logging and not self._logging_initialized:
with g_logging_configure_lock:
g_logging_ref_count += 1
if g_logging_ref_count == 1:
rclpy_implementation.rclpy_logging_configure(capsule)
self._logging_initialized = True
def init(*, args: List[str] = None, context: Context = None) -> None:
"""
Initialize ROS communications for a given context.
:param args: List of command line arguments.
:param context: The context to initialize. If ``None``, then the default context is used
(see :func:`.get_default_context`).
"""
context = get_default_context() if context is None else context
# imported locally to avoid loading extensions on module import
from rclpy.impl.implementation_singleton import rclpy_implementation
return rclpy_implementation.rclpy_init(args if args is not None else sys.argv, context.handle)
def init(args=None):
rclpy_rmw_env = os.getenv(RCLPY_IMPLEMENTATION_ENV_NAME, None)
if rclpy_rmw_env is not None:
available_rmw_implementations = rmw_implementation_tools.get_rmw_implementations(
)
if rclpy_rmw_env not in available_rmw_implementations:
logger = logging.getLogger('rclpy')
logger.error(
"The rmw implementation specified in 'RCLPY_IMPLEMENTATION={0}', "
"is not one of the available implementations: {1}".format(
rclpy_rmw_env, available_rmw_implementations))
raise InvalidRCLPYImplementation()
rmw_implementation_tools.select_rmw_implementation(rclpy_rmw_env)
# This line changes what is in "_rclpy" to be the rmw implementation module that was imported.
implementation_singleton.set_rclpy_implementation(
rmw_implementation_tools.import_rmw_implementation())
# Now we can use _rclpy to call the implementation specific rclpy_init().
return _rclpy.rclpy_init(args if args is not None else sys.argv)
def init(args=None):
rclpy_rmw_env = os.getenv('RCLPY_IMPLEMENTATION', None)
if rclpy_rmw_env is not None:
available_rmw_implementations = rmw_implementation_tools.get_rmw_implementations()
if rclpy_rmw_env not in available_rmw_implementations:
logger = logging.getLogger('rclpy')
logger.error(
"The rmw implementation specified in 'RCLPY_IMPLEMENTATION={0}', "
"is not one of the available implementations: {1}"
.format(rclpy_rmw_env, available_rmw_implementations)
)
raise InvalidRCLPYImplementation()
rmw_implementation_tools.select_rmw_implementation(rclpy_rmw_env)
# This line changes what is in "_rclpy" to be the rmw implementation module that was imported.
implementation_singleton.set_rclpy_implementation(
rmw_implementation_tools.import_rmw_implementation()
)
# Now we can use _rclpy to call the implementation specific rclpy_init().
return _rclpy.rclpy_init(args if args is not None else sys.argv)
def init(*, args=None, context=None):
context = get_default_context() if context is None else context
# imported locally to avoid loading extensions on module import
from rclpy.impl.implementation_singleton import rclpy_implementation
return rclpy_implementation.rclpy_init(
args if args is not None else sys.argv, context.handle)
def init(*, args=None):
# imported locally to avoid loading extensions on module import
from rclpy.impl.implementation_singleton import rclpy_implementation
return rclpy_implementation.rclpy_init(
args if args is not None else sys.argv)