yasmin_ros.publisher_state.PublisherState Class Reference

Inheritance diagram for yasmin_ros.publisher_state.PublisherState:

Collaboration diagram for yasmin_ros.publisher_state.PublisherState:

Public Member Functions
None	__init__ (self, Type msg_type, str topic_name, Callable create_message_handler, Union[QoSProfile, int] qos=10, CallbackGroup callback_group=None, Node node=None)
str	execute (self, Blackboard blackboard)

Protected Attributes
Callable[[Blackboard], Any]	_create_message_handler = create_message_handler
	Callback handler to create messages.
Node	_node = node
	Shared pointer to the ROS 2 node.
str	_topic_name = topic_name
	Name of the topic to publish to.
Publisher	_pub
	Publisher to the ROS 2 topic.

Detailed Description

Template class to publish ROS 2 messages.

This class provides functionality to publish to a ROS 2 topic
and create custom messages.

Attributes:
    _node (Node): Shared pointer to the ROS 2 node.
    _pub (Publisher): Publisher to the ROS 2 topic.
    _topic_name (str): Name of the topic to publish to.
    _create_message_handler (Callable[[Blackboard], Any]): Callback handler to create messages.

Constructor & Destructor Documentation

__init__()

None yasmin_ros.publisher_state.PublisherState.__init__	(		self,
		Type	msg_type,
		str	topic_name,
		Callable	create_message_handler,
		Union[QoSProfile, int]	qos = 10,
		CallbackGroup	callback_group = None,
		Node	node = None )

Construct a new PublisherState with ROS 2 node and specific QoS.

Args:
    msg_type (Type): The type of message to be published.
    topic_name (str): The name of the topic to publish to.
    create_message_handler (Callable[[Blackboard], Any]): A callback handler to create messages.
    qos (Union[QoSProfile, int], optional): Quality of Service settings for the topic.
    callback_group (CallbackGroup, optional): The callback group for the publisher.
    node (Node, optional): The ROS 2 node to use. If None, a default node is created.

Member Function Documentation

execute()

str yasmin_ros.publisher_state.PublisherState.execute	(		self,
		Blackboard	blackboard )

Execute the publishing operation.

Args:
    blackboard (Blackboard): A shared pointer to the blackboard for data storage.

Returns:
    str: A string outcome indicating the result of the publishing operation.

Member Data Documentation

_create_message_handler

Callable[[Blackboard], Any] yasmin_ros.publisher_state.PublisherState._create_message_handler = create_message_handler

protected

Callback handler to create messages.

_node

Node yasmin_ros.publisher_state.PublisherState._node = node

protected

Shared pointer to the ROS 2 node.

_pub

Publisher yasmin_ros.publisher_state.PublisherState._pub

protected

Initial value:

=  ROSClientsCache.get_or_create_publisher(
            self._node,
            msg_type,
            topic_name,
            qos,
            callback_group=callback_group,
        )

Publisher to the ROS 2 topic.

_topic_name

str yasmin_ros.publisher_state.PublisherState._topic_name = topic_name

protected

Name of the topic to publish to.

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The documentation for this class was generated from the following file:

• yasmin_ros/yasmin_ros/publisher_state.py