# {py:mod}`ros_sugar.robot.transports.ros`

```{py:module} ros_sugar.robot.transports.ros
```

```{autodoc2-docstring} ros_sugar.robot.transports.ros
:allowtitles:
```

## Module Contents

### Classes

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

* - {py:obj}`RosTopicTransport <ros_sugar.robot.transports.ros.RosTopicTransport>`
  - ```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosTopicTransport
    :summary:
    ```
* - {py:obj}`RosServiceTransport <ros_sugar.robot.transports.ros.RosServiceTransport>`
  - ```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosServiceTransport
    :summary:
    ```
````

### API

`````{py:class} RosTopicTransport(name: str, *, topic_name: str, msg_type: typing.Any, qos: typing.Optional[ros_sugar.config.QoSConfig] = None, **kwargs)
:canonical: ros_sugar.robot.transports.ros.RosTopicTransport

Bases: {py:obj}`ros_sugar.robot.transports.Transport`

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosTopicTransport
```

````{py:method} open() -> None
:canonical: ros_sugar.robot.transports.ros.RosTopicTransport.open

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosTopicTransport.open
```

````

````{py:method} close() -> None
:canonical: ros_sugar.robot.transports.ros.RosTopicTransport.close

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosTopicTransport.close
```

````

````{py:method} send(payload: typing.Any) -> bool
:canonical: ros_sugar.robot.transports.ros.RosTopicTransport.send
:abstractmethod:

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosTopicTransport.send
```

````

````{py:method} open_egress() -> None
:canonical: ros_sugar.robot.transports.ros.RosTopicTransport.open_egress

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosTopicTransport.open_egress
```

````

````{py:method} is_open() -> bool
:canonical: ros_sugar.robot.transports.ros.RosTopicTransport.is_open

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosTopicTransport.is_open
```

````

````{py:method} subscribe(on_msg: typing.Callable[[typing.Any], None]) -> ros_sugar.robot.transports.SubscriptionHandle
:canonical: ros_sugar.robot.transports.ros.RosTopicTransport.subscribe

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosTopicTransport.subscribe
```

````

````{py:property} kind
:canonical: ros_sugar.robot.transports.ros.RosTopicTransport.kind
:type: str

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosTopicTransport.kind
```

````

`````

`````{py:class} RosServiceTransport(name: str, *, srv_name: str, srv_type: type, timeout_secs: float = 30.0, **kwargs)
:canonical: ros_sugar.robot.transports.ros.RosServiceTransport

Bases: {py:obj}`ros_sugar.robot.transports.Transport`

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosServiceTransport
```

````{py:method} bind_node(node) -> None
:canonical: ros_sugar.robot.transports.ros.RosServiceTransport.bind_node

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosServiceTransport.bind_node
```

````

````{py:method} open() -> None
:canonical: ros_sugar.robot.transports.ros.RosServiceTransport.open

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosServiceTransport.open
```

````

````{py:method} open_egress() -> None
:canonical: ros_sugar.robot.transports.ros.RosServiceTransport.open_egress

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosServiceTransport.open_egress
```

````

````{py:method} close() -> None
:canonical: ros_sugar.robot.transports.ros.RosServiceTransport.close

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosServiceTransport.close
```

````

````{py:method} send(payload: typing.Any) -> bool
:canonical: ros_sugar.robot.transports.ros.RosServiceTransport.send

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosServiceTransport.send
```

````

````{py:method} is_open() -> bool
:canonical: ros_sugar.robot.transports.ros.RosServiceTransport.is_open

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosServiceTransport.is_open
```

````

````{py:method} subscribe(on_msg: typing.Callable[[typing.Any], None]) -> ros_sugar.robot.transports.SubscriptionHandle
:canonical: ros_sugar.robot.transports.ros.RosServiceTransport.subscribe

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosServiceTransport.subscribe
```

````

````{py:property} kind
:canonical: ros_sugar.robot.transports.ros.RosServiceTransport.kind
:type: str

```{autodoc2-docstring} ros_sugar.robot.transports.ros.RosServiceTransport.kind
```

````

`````