# {py:mod}`ros_sugar.robot.plugin`

```{py:module} ros_sugar.robot.plugin
```

```{autodoc2-docstring} ros_sugar.robot.plugin
:allowtitles:
```

## Module Contents

### Classes

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`PluginMetadata <ros_sugar.robot.plugin.PluginMetadata>`
  - ```{autodoc2-docstring} ros_sugar.robot.plugin.PluginMetadata
    :summary:
    ```
* - {py:obj}`RobotPlugin <ros_sugar.robot.plugin.RobotPlugin>`
  - ```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin
    :summary:
    ```
* - {py:obj}`RobotPluginHost <ros_sugar.robot.plugin.RobotPluginHost>`
  - ```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPluginHost
    :summary:
    ```
````

### API

`````{py:exception} AmbiguousPluginEntryError()
:canonical: ros_sugar.robot.plugin.AmbiguousPluginEntryError

Bases: {py:obj}`LookupError`

```{autodoc2-docstring} ros_sugar.robot.plugin.AmbiguousPluginEntryError
```

````{py:method} add_note()
:canonical: ros_sugar.robot.plugin.AmbiguousPluginEntryError.add_note

```{autodoc2-docstring} ros_sugar.robot.plugin.AmbiguousPluginEntryError.add_note
```

````

````{py:method} with_traceback()
:canonical: ros_sugar.robot.plugin.AmbiguousPluginEntryError.with_traceback

```{autodoc2-docstring} ros_sugar.robot.plugin.AmbiguousPluginEntryError.with_traceback
```

````

`````

````{py:class} PluginMetadata
:canonical: ros_sugar.robot.plugin.PluginMetadata

Bases: {py:obj}`ros_sugar.config.BaseAttrs`

```{autodoc2-docstring} ros_sugar.robot.plugin.PluginMetadata
```

````

`````{py:class} RobotPlugin
:canonical: ros_sugar.robot.plugin.RobotPlugin

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin
```

````{py:method} to_spec() -> typing.Dict[str, typing.Any]
:canonical: ros_sugar.robot.plugin.RobotPlugin.to_spec

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.to_spec
```

````

````{py:method} from_spec(spec: typing.Dict[str, typing.Any], bus_endpoint: typing.Optional[typing.Any] = None) -> ros_sugar.robot.plugin.RobotPlugin
:canonical: ros_sugar.robot.plugin.RobotPlugin.from_spec
:staticmethod:

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.from_spec
```

````

````{py:property} bus
:canonical: ros_sugar.robot.plugin.RobotPlugin.bus
:type: typing.Optional[ros_sugar.robot.bus.FeedbackBus]

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.bus
```

````

````{py:method} set_bus(bus: ros_sugar.robot.bus.FeedbackBus) -> None
:canonical: ros_sugar.robot.plugin.RobotPlugin.set_bus

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.set_bus
```

````

````{py:method} on_attached(node: typing.Any, bus: ros_sugar.robot.bus.FeedbackBus) -> None
:canonical: ros_sugar.robot.plugin.RobotPlugin.on_attached

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.on_attached
```

````

````{py:method} resolve_feedback(topic_name: str, msg_type_name: str) -> typing.Optional[ros_sugar.robot.feedback.Feedback]
:canonical: ros_sugar.robot.plugin.RobotPlugin.resolve_feedback

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.resolve_feedback
```

````

````{py:method} resolve_command(topic_name: str, msg_type_name: str) -> typing.Optional[ros_sugar.robot.command.RobotCommand]
:canonical: ros_sugar.robot.plugin.RobotPlugin.resolve_command

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.resolve_command
```

````

````{py:method} subscribe_feedback(feedback: ros_sugar.robot.feedback.Feedback, on_ros_msg: typing.Callable[[typing.Any], None]) -> ros_sugar.robot.bus.BusHandle
:canonical: ros_sugar.robot.plugin.RobotPlugin.subscribe_feedback

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.subscribe_feedback
```

````

````{py:method} open_command(command: ros_sugar.robot.command.RobotCommand) -> None
:canonical: ros_sugar.robot.plugin.RobotPlugin.open_command

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.open_command
```

````

````{py:method} send_command(command: ros_sugar.robot.command.RobotCommand, payload: typing.Any) -> bool
:canonical: ros_sugar.robot.plugin.RobotPlugin.send_command

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.send_command
```

````

````{py:method} list_feedbacks() -> typing.List[ros_sugar.robot.feedback.FeedbackSpec]
:canonical: ros_sugar.robot.plugin.RobotPlugin.list_feedbacks

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.list_feedbacks
```

````

````{py:method} list_commands() -> typing.List[ros_sugar.robot.command.CommandSpec]
:canonical: ros_sugar.robot.plugin.RobotPlugin.list_commands

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.list_commands
```

````

````{py:method} list_actions() -> typing.List[ros_sugar.robot.registries.ActionSpec]
:canonical: ros_sugar.robot.plugin.RobotPlugin.list_actions

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.list_actions
```

````

````{py:method} list_events() -> typing.List[ros_sugar.robot.registries.EventSpec]
:canonical: ros_sugar.robot.plugin.RobotPlugin.list_events

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.list_events
```

````

````{py:method} describe() -> typing.Dict[str, typing.Any]
:canonical: ros_sugar.robot.plugin.RobotPlugin.describe

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPlugin.describe
```

````

`````

`````{py:class} RobotPluginHost(plugin: ros_sugar.robot.plugin.RobotPlugin, node: typing.Any, bus: ros_sugar.robot.bus.FeedbackBus, monitor_feed: typing.Optional[typing.Callable[[str, typing.Any], None]] = None)
:canonical: ros_sugar.robot.plugin.RobotPluginHost

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPluginHost
```

````{py:method} open() -> None
:canonical: ros_sugar.robot.plugin.RobotPluginHost.open

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPluginHost.open
```

````

````{py:method} close() -> None
:canonical: ros_sugar.robot.plugin.RobotPluginHost.close

```{autodoc2-docstring} ros_sugar.robot.plugin.RobotPluginHost.close
```

````

`````