ros_sugar.io.topic

ROS Topic Configuration

Module Contents

Classes

Topic	Class for ROS topic configuration (name, type and QoS)
AllowedTopics	Configure allowed types to restrict a component Topic

Functions

get_all_msg_types	Gets all message types from supported data_types
get_msg_type	Gets a message type from supported data_types given a string name

API

ros_sugar.io.topic.get_all_msg_types(msg_types_module: types.ModuleType = supported_types) → List[Type[ros_sugar.io.supported_types.SupportedType]]

Gets all message types from supported data_types

Returns:

Supported data types

Return type:

list[type]

ros_sugar.io.topic.get_msg_type(type_name: Union[Type[ros_sugar.io.supported_types.SupportedType], str], msg_types_module: Optional[types.ModuleType] = supported_types) → Union[Type[ros_sugar.io.supported_types.SupportedType], str]

Gets a message type from supported data_types given a string name

Parameters:

type_name (str) – Message name

Returns:

Supported data type or None if not found

Return type:

type

class ros_sugar.io.topic.Topic

Bases: ros_sugar.config.BaseAttrs, typing.Generic[ros_sugar.utils.MsgT]

Class for ROS topic configuration (name, type and QoS)

Name	Type, Default	Description
name	str	Topic name
msg_type	type | str	Topic message type, can be provided as a ‘type’ or the type name as a string
qos_profile	QoSConfig, QoSConfig()	QoS (Quality of Service) configuration
data_timeout	float, 1.0	Used in event management. Time to hold the topic data for processing before considered “stale” (seconds)

property msg: ros_sugar.condition.MsgConditionBuilder

Get the ROS message object path builder associated with this Topic Used for parsing topic message attributes for Actions and Event parsers

Returns:

ROS message type

Return type:

MsgT

class ros_sugar.io.topic.AllowedTopics

Bases: ros_sugar.config.BaseAttrs

Configure allowed types to restrict a component Topic