ros_sugar.config.base_config

Config Classes for Components and Topics

Module Contents

Classes

QoSConfig

Class for quality of service (QoS) configuration in ROS2

BaseConfig

Node General Parameters

ComponentRunType

Component run type:

ExternalProcessorType

External processor type:

BaseComponentConfig

Component configuration parameters

API

class ros_sugar.config.base_config.QoSConfig

Bases: ros_sugar.config.base_attrs.BaseAttrs

Class for quality of service (QoS) configuration in ROS2

Name

Type, Default

Description

history

int, [qos](https://docs.ros2.org/foxy/api/rclpy/api/qos.html).HistoryPolicy.KEEP_LAST

Sample store type: ALL or LAST (up to N samples, configurable via the queue depth option)

queue_size

int, 10

Used only if the “history” policy was set to “keep last”

reliability

int, qos.ReliabilityPolicy.RELIABLE

Level of reliability in delivering samples

durability

int, qos.DurabilityPolicy.VOLATILE

Determines if the publisher will be persisting samples for “late-joining” subscriptions (Transit Local) or not (Volatile)
to_ros() → rclpy.qos.QoSProfile

Converts the config class to ROS2 QoS Profile

Returns:

ROS2 QoS Profile

Return type:

qos.QoSProfile

asdict(filter: Optional[Callable] = None) → Dict

Convert class to dict.

Return type:

dict

to_dict() → Dict

Convert class to dict.

Return type:

dict

from_dict(dict_obj: Dict) → None

Gets attributes values from given dictionary

Parameters:

dict_obj (Dict) – Dictionary {attribute_name: attribute_value}

Raises:

  • ValueError – If attribute_name in dictionary does not exists in class attributes

  • TypeError – If attribute_value type in dictionary does not correspond to class attribute type

from_file(file_path: str, nested_root_name: Union[str, None] = None, get_common: bool = False) → bool

Update class attributes from yaml, json, or toml

Parameters:

  • file_path – Path to config file (.yaml, .json, .toml)

  • nested_root_name – Nested root name for the config, defaults to None

  • get_common – Whether to get extra config root (for merging), defaults to False

to_json() → Union[str, bytes, bytearray]

Dump to json

Returns:

description

Return type:

str | bytes | bytearray

from_json(json_obj: Union[str, bytes, bytearray]) → None

Gets attributes values from given json

Parameters:

json_obj (str | bytes | bytearray) – Json object

has_attribute(attr_name: str) → bool

Checks if class object has attribute with given name

Parameters:

attr_name (str) – description

Returns:

If object has attribute with given name

Return type:

bool

get_attribute_type(attr_name: str) → Optional[type]

Gets type of given attribute name

Parameters:

attr_name (str) – description

Raises:

AttributeError – If class does not have attribute with given name

Returns:

Attribute type

Return type:

type

update_value(attr_name: str, attr_value: Any) → bool

Updates the value of an attribute in the class

Parameters:

  • attr_name (str) – Attribute name - can be nested name

  • attr_value (Any) – Attribute value

Raises:

  • AttributeError – If class does not contain attribute with given name

  • TypeError – If class attribute with given name if of different type

Returns:

If attribute value is updated

Return type:

bool

classmethod get_fields_info(class_object) → Dict[str, Dict[str, Any]]

Returns a dictionary with metadata about each field in the class.

This includes the field’s name, type annotation, and parsed validator info.

Returns:

A dictionary where keys are field names and values are dicts of metadata.

class ros_sugar.config.base_config.BaseConfig

Bases: ros_sugar.config.base_attrs.BaseAttrs

Node General Parameters

Parameters:

  • loop_rate (float) – Rate (Hz) in which the node executes

  • visualization (bool) – To publish additional topics for visualization

asdict(filter: Optional[Callable] = None) → Dict

Convert class to dict.

Return type:

dict

to_dict() → Dict

Convert class to dict.

Return type:

dict

from_dict(dict_obj: Dict) → None

Gets attributes values from given dictionary

Parameters:

dict_obj (Dict) – Dictionary {attribute_name: attribute_value}

Raises:

  • ValueError – If attribute_name in dictionary does not exists in class attributes

  • TypeError – If attribute_value type in dictionary does not correspond to class attribute type

from_file(file_path: str, nested_root_name: Union[str, None] = None, get_common: bool = False) → bool

Update class attributes from yaml, json, or toml

Parameters:

  • file_path – Path to config file (.yaml, .json, .toml)

  • nested_root_name – Nested root name for the config, defaults to None

  • get_common – Whether to get extra config root (for merging), defaults to False

to_json() → Union[str, bytes, bytearray]

Dump to json

Returns:

description

Return type:

str | bytes | bytearray

from_json(json_obj: Union[str, bytes, bytearray]) → None

Gets attributes values from given json

Parameters:

json_obj (str | bytes | bytearray) – Json object

has_attribute(attr_name: str) → bool

Checks if class object has attribute with given name

Parameters:

attr_name (str) – description

Returns:

If object has attribute with given name

Return type:

bool

get_attribute_type(attr_name: str) → Optional[type]

Gets type of given attribute name

Parameters:

attr_name (str) – description

Raises:

AttributeError – If class does not have attribute with given name

Returns:

Attribute type

Return type:

type

update_value(attr_name: str, attr_value: Any) → bool

Updates the value of an attribute in the class

Parameters:

  • attr_name (str) – Attribute name - can be nested name

  • attr_value (Any) – Attribute value

Raises:

  • AttributeError – If class does not contain attribute with given name

  • TypeError – If class attribute with given name if of different type

Returns:

If attribute value is updated

Return type:

bool

classmethod get_fields_info(class_object) → Dict[str, Dict[str, Any]]

Returns a dictionary with metadata about each field in the class.

This includes the field’s name, type annotation, and parsed validator info.

Returns:

A dictionary where keys are field names and values are dicts of metadata.

class ros_sugar.config.base_config.ComponentRunType(*args, **kwds)

Bases: enum.Enum

Component run type:

  • Timed: Executes main in a timed loop

  • Event: Executes based on a trigger topic/event

  • Server: Executes based on a ROS service request from a client

  • ActionServer: Executes based on a ROS action server request from a client

classmethod to_str(enum_value) → str

Return string value corresponding to enum value if exists

Parameters:

enum_value (ComponentRunType | str) – description

Raises:

ValueError – If the enum value is not from this class

Returns:

String value

Return type:

str

name()

The name of the Enum member.

value()

The value of the Enum member.

class ros_sugar.config.base_config.ExternalProcessorType(*args, **kwds)

Bases: enum.Enum

External processor type:

  • MSG_PRE_PROCESSOR: Executes before publishing a ros msg

  • MSG_POST_PROCESSOR: Executes after receiving a ros msg in a callback

classmethod to_str(enum_value) → str

Return string value corresponding to enum value if exists

Parameters:

enum_value (ExternalProcessorType | str) – description

Raises:

ValueError – If the enum value is not from this class

Returns:

String value

Return type:

str

name()

The name of the Enum member.

value()

The value of the Enum member.

class ros_sugar.config.base_config.BaseComponentConfig

Bases: ros_sugar.config.base_config.BaseConfig

Component configuration parameters

Parameters:

  • fallback_rate (float) – Rate (Hz) at which the component checks for fallbacks and executes actions if a failure is detected.

  • log_level (Union[str, LoggingSeverity]) – Logging level for the component’s internal logs. Can be a string or LoggingSeverity enum.

  • rclpy_log_level (Union[str, LoggingSeverity]) – Logging level for rclpy (ROS client library) logs. Can be a string or LoggingSeverity enum.

  • wait_for_restart_time (float) – Time (in seconds) the component waits for a node to come back online after restart. Used to avoid infinite restart loops. Recommended to use a high value.

asdict(filter: Optional[Callable] = None) → Dict

Convert class to dict.

Return type:

dict

to_dict() → Dict

Convert class to dict.

Return type:

dict

from_dict(dict_obj: Dict) → None

Gets attributes values from given dictionary

Parameters:

dict_obj (Dict) – Dictionary {attribute_name: attribute_value}

Raises:

  • ValueError – If attribute_name in dictionary does not exists in class attributes

  • TypeError – If attribute_value type in dictionary does not correspond to class attribute type

from_file(file_path: str, nested_root_name: Union[str, None] = None, get_common: bool = False) → bool

Update class attributes from yaml, json, or toml

Parameters:

  • file_path – Path to config file (.yaml, .json, .toml)

  • nested_root_name – Nested root name for the config, defaults to None

  • get_common – Whether to get extra config root (for merging), defaults to False

to_json() → Union[str, bytes, bytearray]

Dump to json

Returns:

description

Return type:

str | bytes | bytearray

from_json(json_obj: Union[str, bytes, bytearray]) → None

Gets attributes values from given json

Parameters:

json_obj (str | bytes | bytearray) – Json object

has_attribute(attr_name: str) → bool

Checks if class object has attribute with given name

Parameters:

attr_name (str) – description

Returns:

If object has attribute with given name

Return type:

bool

get_attribute_type(attr_name: str) → Optional[type]

Gets type of given attribute name

Parameters:

attr_name (str) – description

Raises:

AttributeError – If class does not have attribute with given name

Returns:

Attribute type

Return type:

type

update_value(attr_name: str, attr_value: Any) → bool

Updates the value of an attribute in the class

Parameters:

  • attr_name (str) – Attribute name - can be nested name

  • attr_value (Any) – Attribute value

Raises:

  • AttributeError – If class does not contain attribute with given name

  • TypeError – If class attribute with given name if of different type

Returns:

If attribute value is updated

Return type:

bool

classmethod get_fields_info(class_object) → Dict[str, Dict[str, Any]]

Returns a dictionary with metadata about each field in the class.

This includes the field’s name, type annotation, and parsed validator info.

Returns:

A dictionary where keys are field names and values are dicts of metadata.