Context¶
-
class
rclpy.context.
Context
¶ Encapsulates the lifecycle of init and shutdown.
Context objects should not be reused, and are finalized in their destructor.
Wraps the rcl_context_t type.
-
property
handle
¶
-
init
(args=None, *, initialize_logging=True)¶ Initialize ROS communications for a given context.
- Parameters
args (
Optional
[List
[str
]]) – List of command line arguments.
-
ok
()¶ Check if context hasn’t been shut down.
-
on_shutdown
(callback)¶ Add a callback to be called on shutdown.
-
shutdown
()¶ Shutdown this context.
-
try_shutdown
()¶ Shutdown this context, if not already shutdown.
-
property