`ros_sugar.actions`#

Component-level Actions:#

These actions operate directly on Sugarcoat BaseComponent instances to manage lifecycle, configuration, or intrinsic interfaces.

start
stop
restart
reconfigure
update_parameter
update_parameters
trigger_component_service
send_component_service_request
trigger_component_action_server
send_component_action_server_goal

System-level Actions:#

These actions interact with standard ROS2 interfaces (Topics, Services, Actions) and system utilities.

log
publish_message
send_srv_request
trigger_service
send_action_goal
trigger_action_server

Routine Actions:#

These control a Routine by name on the Monitor that hosts it.

start_routine
pause_routine
resume_routine
abort_routine

Usage Example:#

    from ros_sugar.actions import start, log, trigger_service

    # Component Lifecycle Action
    my_component = BaseComponent(node_name='test_component')
    action_start = start(component=my_component)

    # System/Logic Action
    action_log = log(msg="I am executing a cool action!")

    # ROS2 Interface Action
    action_srv = trigger_service(
        srv_name='/add_two_ints',
        srv_type=AddTwoInts
    )

Actions

Pre-defined component and system level actions.

Module Contents#

Functions#

`send_srv_request`	Action to send a ROS2 service request to a given service name/type
`trigger_service`	Action to trigger a ROS2 service. The action will try to create the service request out of the incoming event topic, if failed it will trigger the server with a default request value
`send_component_service_request`	Action to send a ROS2 service request to a component’s main service
`trigger_component_service`	Action to trigger a component’s main service The action will try to create the service request out of the incoming event topic, if failed it will trigger the server with a default request value
`send_action_goal`	Action to send a ROS2 action goal to a given ROS2 action server name and type
`trigger_action_server`	Action to trigger a ROS2 action server with given name and type The action will try to create the service request out of the incoming event topic, if failed it will trigger the server with a default request value
`send_component_action_server_goal`	Action to send a ROS2 action to a component’s main action server
`trigger_component_action_server`	Action to trigger a component’s action server The action will try to create the service request out of the incoming event topic, if failed it will trigger the server with a default request value
`publish_message`	Action to publish a ROS2 message on a given topic. If both publish_rate and publish_period are not provided, the message will be published once
`start`	Action to start a given component
`stop`	Action to stop a given component
`restart`	Action to restart a given component
`reconfigure`	Action to reconfigure a given component
`update_parameter`	Action to update (change) the value of a component config parameter
`update_parameters`	Action to update (change) the values of a list of component config parameters
`log`	Action to log a message.
`start_routine`	Action to start a routine by name.
`pause_routine`	Action to pause a running routine, preempting the step in flight.
`resume_routine`	Action to resume a paused routine, re-entering the step it stopped at.
`abort_routine`	Action to end a routine now, running its `on_abort`.
`wait`	Action to dwell for a while, as a step of a routine.

API#

ros_sugar.actions.send_srv_request(*, srv_name: str, srv_type: type, srv_request_msg: Any) → ros_sugar.core.action.Action#

Action to send a ROS2 service request to a given service name/type

Parameters:

srv_name (str) – Service name
srv_type (type) – Service type (ROS2 service)
srv_request_msg (Any) – Service request message

Returns:

Sending request action

Return type:

Action

ros_sugar.actions.trigger_service(*, srv_name: str, srv_type: type) → ros_sugar.core.action.Action#

Action to trigger a ROS2 service. The action will try to create the service request out of the incoming event topic, if failed it will trigger the server with a default request value

Parameters:

srv_name (str) – Service name
srv_type (type) – Service type (ROS2 service)

Returns:

Sending request action

Return type:

Action

ros_sugar.actions.send_component_service_request(*, component: ros_sugar.core.component.BaseComponent, srv_request_msg: Any) → ros_sugar.core.action.Action#

Action to send a ROS2 service request to a component’s main service

Parameters:

component (BaseComponent) – Sugarcoat Component
srv_request_msg (Any) – Service request message

Returns:

Sending request action

Return type:

Action

ros_sugar.actions.trigger_component_service(*, component: ros_sugar.core.component.BaseComponent) → ros_sugar.core.action.Action#

Action to trigger a component’s main service The action will try to create the service request out of the incoming event topic, if failed it will trigger the server with a default request value

Parameters:: component (BaseComponent) – Sugarcoat Component
Returns:: Sending request action
Return type:: Action

ros_sugar.actions.send_action_goal(*, server_name: str, server_type: type, request_msg: Any) → ros_sugar.core.action.Action#

Action to send a ROS2 action goal to a given ROS2 action server name and type

Parameters:

action_name (str) – ROS2 action name
action_type (type) – ROS2 action type
action_request_msg (Any) – ROS2 action goal message

Returns:

Sending goal action

Return type:

Action

ros_sugar.actions.trigger_action_server(*, server_name: str, server_type: type) → ros_sugar.core.action.Action#

Action to trigger a ROS2 action server with given name and type The action will try to create the service request out of the incoming event topic, if failed it will trigger the server with a default request value

Parameters:

action_name (str) – ROS2 action name
action_type (type) – ROS2 action type

Returns:

Sending goal action

Return type:

Action

ros_sugar.actions.send_component_action_server_goal(*, component: ros_sugar.core.component.BaseComponent, request_msg: Any) → ros_sugar.core.action.Action#

Action to send a ROS2 action to a component’s main action server

Parameters:

component (BaseComponent) – Sugarcoat Component
action_request_msg (Any) – ROS2 action goal message

Returns:

Sending goal action

Return type:

Action

ros_sugar.actions.trigger_component_action_server(*, component: ros_sugar.core.component.BaseComponent) → ros_sugar.core.action.Action#

Action to trigger a component’s action server The action will try to create the service request out of the incoming event topic, if failed it will trigger the server with a default request value

Parameters:: component (BaseComponent) – Sugarcoat Component
Returns:: Sending goal action
Return type:: Action

ros_sugar.actions.publish_message(*, topic: ros_sugar.io.topic.Topic, msg: Any, publish_rate: Optional[float] = None, publish_period: Optional[float] = None) → ros_sugar.core.action.Action#

Action to publish a ROS2 message on a given topic. If both publish_rate and publish_period are not provided, the message will be published once

Parameters:

topic (Topic) – Topic to publish
msg (Any) – Message to publish
publish_rate (Optional[float], optional) – Publishing rate (Hz), defaults to None
publish_period (Optional[float], optional) – Publishing period (s), defaults to None

Returns:

Publish message action

Return type:

Action

ros_sugar.actions.start(*, component: ros_sugar.core.component.BaseComponent) → ros_sugar.core.action.Action#

Action to start a given component

Parameters:: component (BaseComponent) – Component
Returns:: Component start action
Return type:: Action

ros_sugar.actions.stop(*, component: ros_sugar.core.component.BaseComponent) → ros_sugar.core.action.Action#

Action to stop a given component

Parameters:: component (BaseComponent) – Component
Returns:: Component stop action
Return type:: Action

ros_sugar.actions.restart(*, component: ros_sugar.core.component.BaseComponent, wait_time: Optional[float] = None) → ros_sugar.core.action.Action#

Action to restart a given component

Parameters:

component (BaseComponent) – Component
wait_time (Optional[float]) – Optional wait time n seconds between stop and start, defaults to None (i.e. no wait)

Returns:

Component restart action

Return type:

Action

ros_sugar.actions.reconfigure(*, component: ros_sugar.core.component.BaseComponent, new_config: Union[str, object], keep_alive: bool = False) → ros_sugar.core.action.Action#

Action to reconfigure a given component

Parameters:

component (BaseComponent) – Component
new_config (Union[str, object]) – Component config class or path to config file
keep_alive (bool, optional) – To keep the component running when reconfiguring, defaults to False

Returns:

Component reconfigure action

Return type:

Action

ros_sugar.actions.update_parameter(*, component: ros_sugar.core.component.BaseComponent, param_name: str, new_value: Any, keep_alive: bool = True) → ros_sugar.core.action.Action#

Action to update (change) the value of a component config parameter

Parameters:

component (BaseComponent) – Component
param_name (str) – Parameter name
new_value (Any) – Parameter value
keep_alive (bool, optional) – To keep the component running when updating the value, defaults to True

Returns:

Component parameter update action

Return type:

Action

ros_sugar.actions.update_parameters(*, component: ros_sugar.core.component.BaseComponent, params_names: List[str], new_values: List, keep_alive: bool = True) → ros_sugar.core.action.Action#

Action to update (change) the values of a list of component config parameters

Parameters:

component (BaseComponent) – Component
params_names (List[str]) – Parameters names
new_values (List) – Parameters values
keep_alive (bool, optional) – To keep the component running when updating the value, defaults to True

Returns:

Component parameter update action

Return type:

Action

ros_sugar.actions.log(*, msg: str, logger_name: Optional[str] = None) → ros_sugar.core.action.LogInfo#

Action to log a message.

Parameters:

msg (str)
logger_name (Optional[str])

Return type:

LogInfo

ros_sugar.actions.start_routine(*, routine_name: str) → ros_sugar.core.action.Action#

Action to start a routine by name.

Equivalent to triggering the Routine object itself, and useful where the recipe has the name rather than the object.

Parameters:: routine_name (str) – Name the routine was declared with
Return type:: Action

ros_sugar.actions.pause_routine(*, routine_name: str) → ros_sugar.core.action.Action#

Action to pause a running routine, preempting the step in flight.

Parameters:: routine_name (str) – Name the routine was declared with
Return type:: Action

ros_sugar.actions.resume_routine(*, routine_name: str) → ros_sugar.core.action.Action#

Action to resume a paused routine, re-entering the step it stopped at.

Parameters:: routine_name (str) – Name the routine was declared with
Return type:: Action

ros_sugar.actions.abort_routine(*, routine_name: str, reason: str = 'aborted by request') → ros_sugar.core.action.Action#

Action to end a routine now, running its on_abort.

Written for the case it exists for: a higher priority event, such as an emergency stop, cutting a procedure short.

launcher.on(emergency_stop, abort_routine(routine_name="pick_object",
                                          reason="emergency stop"))

Parameters:

routine_name (str) – Name the routine was declared with
reason (str) – Recorded in the routine’s cursor and logged

Return type:

Action

ros_sugar.actions.wait(*, duration: float, name: Optional[str] = None) → ros_sugar.core.action.Action#

Action to dwell for a while, as a step of a routine.

Every other step settles as soon as it is called, so “hold here for thirty seconds” has no other spelling. Stopping the step, by aborting or pausing its routine, ends the wait at once and gives back the worker it holds.

patrol = Routine(
    "patrol",
    steps=[
        Action(arm.go_home),
        wait(duration=30.0, name="settle"),
        Action(arm.scan),
        wait(duration=5.0, name="settle_again"),
        Action(arm.go_home, name="back_home"),
    ],
)

Parameters:

duration (float) – Seconds to wait
name (Optional[str]) – Name of the step, which a routine needs when it waits more than once, since step names must be unique. Defaults to “wait”

Return type:

Action

ros_sugar.actions#

Component-level Actions:#

System-level Actions:#

Routine Actions:#

Usage Example:#

Module Contents#

Functions#

API#

`ros_sugar.actions`#