def subscriber(node: Node, topic_name: str, message_type: MsgType,
callback: Callable[[MsgType], Any],
qos_profile: QoSProfile) -> Optional[str]:
"""Initialize a node with a single subscription and spin."""
if message_type is None:
topic_names_and_types = get_topic_names_and_types(
node=node, include_hidden_topics=True)
try:
expanded_name = expand_topic_name(topic_name, node.get_name(),
node.get_namespace())
except ValueError as e:
raise RuntimeError(e)
try:
validate_full_topic_name(expanded_name)
except rclpy.exceptions.InvalidTopicNameException as e:
raise RuntimeError(e)
for n, t in topic_names_and_types:
if n == expanded_name:
if len(t) > 1:
raise RuntimeError(
"Cannot echo topic '%s', as it contains more than one type: [%s]"
% (topic_name, ', '.join(t)))
message_type = t[0]
break
else:
raise RuntimeError(
'Could not determine the type for the passed topic')
msg_module = get_message(message_type)
node.create_subscription(msg_module, topic_name, callback, qos_profile)
rclpy.spin(node)
def __init__(self, node: Node, full_dof=False, stamped_pose_only=False):
self.node = node
self._logger = get_logger()
self._points = None
self._time = None
self._this_pnt = None
self._is_full_dof = full_dof
self._stamped_pose_only = stamped_pose_only
self._wp_interp_on = False
self._wp_interp = WPTrajectoryGenerator(
node.get_namespace(),
full_dof=full_dof,
stamped_pose_only=stamped_pose_only)
self._has_started = False
self._is_finished = False
