Utilities¶
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rclpy.utilities.
get_available_rmw_implementations
()¶ Return the set of all available RMW implementations as registered in the ament index.
The result can be overridden by setting an environment variable named
RMW_IMPLEMENTATIONS
. The variable can contain RMW implementation names separated by the platform specific path separator. Including an unavailable RMW implementation results in a RuntimeError.
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rclpy.utilities.
get_default_context
(*, shutting_down=False)¶ Return the global default context singleton.
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rclpy.utilities.
get_rmw_implementation_identifier
()¶
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rclpy.utilities.
ok
(*, context=None)¶
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rclpy.utilities.
remove_ros_args
(args=None)¶
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rclpy.utilities.
shutdown
(*, context=None)¶
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rclpy.utilities.
timeout_sec_to_nsec
(timeout_sec)¶ Convert timeout in seconds to rcl compatible timeout in nanoseconds.
Python tends to use floating point numbers in seconds for timeouts. This utility converts a python-style timeout to an integer in nanoseconds that can be used by rcl_wait.
- Parameters
timeout_sec (float or None) – Seconds to wait. Block forever if None or negative. Don’t wait if < 1ns
- Return type
int
- Returns
rcl_wait compatible timeout in nanoseconds
-
rclpy.utilities.
try_shutdown
(*, context=None)¶ Shutdown rclpy if not already shutdown.