Node¶
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class
rclpy.node.
Node
(node_name, *, context=None, cli_args=None, namespace=None, use_global_arguments=True, start_parameter_services=True, initial_parameters=None)¶ -
add_waitable
(waitable)¶ Add a class which itself is capable of add things to the wait set.
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context
¶
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count_publishers
(topic_name)¶ Return the number of publishers on a given topic.
topic_name may be a relative, private, or fully qualifed topic name. A relative or private topic is expanded using this node’s namespace and name. The queried topic name is not remapped.
Parameters: topic_name (str) – the topic_name on which to count the number of publishers. Returns: the number of publishers on the topic.
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count_subscribers
(topic_name)¶ Return the number of subscribers on a given topic.
topic_name may be a relative, private, or fully qualifed topic name. A relative or private topic is expanded using this node’s namespace and name. The queried topic name is not remapped.
Parameters: topic_name (str) – the topic_name on which to count the number of subscribers. Returns: the number of subscribers on the topic.
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create_client
(srv_type, srv_name, *, qos_profile=<rclpy.qos.QoSProfile object>, callback_group=None)¶
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create_guard_condition
(callback, callback_group=None)¶
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create_publisher
(msg_type, topic, *, qos_profile=<rclpy.qos.QoSProfile object>)¶
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create_service
(srv_type, srv_name, callback, *, qos_profile=<rclpy.qos.QoSProfile object>, callback_group=None)¶
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create_subscription
(msg_type, topic, callback, *, qos_profile=<rclpy.qos.QoSProfile object>, callback_group=None, raw=False)¶
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create_timer
(timer_period_sec, callback, callback_group=None)¶
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default_callback_group
¶
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destroy_client
(client)¶
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destroy_guard_condition
(guard)¶
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destroy_node
()¶
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destroy_publisher
(publisher)¶
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destroy_service
(service)¶
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destroy_subscription
(subscription)¶
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destroy_timer
(timer)¶
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executor
¶ Get the executor if the node has been added to one, else return None.
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get_clock
()¶
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get_logger
()¶
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get_name
()¶
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get_namespace
()¶
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get_node_names
()¶
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get_node_names_and_namespaces
()¶
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get_parameter
(name)¶
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get_parameters
(names)¶
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get_publisher_names_and_types_by_node
(node_name, node_namespace, no_demangle=False)¶
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get_service_names_and_types
()¶
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get_service_names_and_types_by_node
(node_name, node_namespace)¶
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get_subscriber_names_and_types_by_node
(node_name, node_namespace, no_demangle=False)¶
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get_topic_names_and_types
(no_demangle=False)¶
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handle
¶
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remove_waitable
(waitable)¶ Remove a class which itself is capable of add things to the wait set.
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set_parameters
(parameter_list)¶
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set_parameters_atomically
(parameter_list)¶
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set_parameters_callback
(callback)¶
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