synchros2.node module

class synchros2.node.Node[source]

Bases: Node

An rclpy.node.Node subclass that:

  • changes the default callback group to be non-reentrant

  • wraps its logger with a memoizing one for improved efficiency

__init__(*args: Any, default_callback_group: rclpy.callback_groups.CallbackGroup | None = None, **kwargs: Any) → None[source]

Initializes the node.

Parameters:

  • args – positional arguments for a ros Node

  • default_callback_group – optional callback group to use as default for all subsequently created entities, such as subscriptions and clients.

  • kwargs – keyword arguments for a ros Node

See rclpy.node.Node documentation for further reference on available arguments.

create_rate(frequency: float, clock: rclpy.clock.Clock | None = None) → rclpy.timer.Rate[source]

Create a Rate object.

Parameters:

  • frequency – The frequency the Rate runs at (Hz).

  • clock – The clock the Rate gets time from.

property default_callback_group: rclpy.callback_groups.CallbackGroup

Get the default callback group.

destroy_node() → None[source]

Overrides node destruction API.

destroy_rate(rate: rclpy.timer.Rate) → bool[source]

Destroy a Rate object created by the node.

Returns:

True if successful, False otherwise.

property destruction_requested: bool

Checks whether destruction was requested or not.

property waitables: Iterable[rclpy.waitable.Waitable]

Get patched node waitables.

Workaround for https://github.com/ros2/rclpy/issues/1284.

synchros2.node.override(func)
synchros2.node.suppressed(exception: Type[BaseException], func: Callable) → Callable[source]

Suppress the given exception type from func invocations