Class SubscriberProxy

Works like a service proxy, but using a subscriber instead.

Instance Methods

__init__(self, topic, msg_type)

source code

__call__(self, timeout=None)
Returns immediately with the latest data or waits for incoming data.

source code

wait_for_next(self, timeout=None)
Makes sure any current data is cleared and waits for new data.

source code

wait_for_publishers(self)
Blocks until publishers are seen.

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Method Details

Parameters:

topic - the topic name to subscriber to @type str
msg_type - any ros message type (typical arg for the subscriber) @type msg
timeout - timeout on the wait operation (None = /infty) @type rospy.Duration() @return msg type data or None

Returns immediately with the latest data or waits for incoming data.

Parameters:

timeout - time to wait for data, polling at 10Hz. @type rospy.Duration @return latest data or None

Blocks until publishers are seen.

@raise rospy.exceptions.ROSInterruptException if we are in shutdown.