examples_tf2_py.async_waits_for_transform module

class examples_tf2_py.async_waits_for_transform.AsyncWaitsForTransform(*args: Any, **kwargs: Any)

Bases: Node

Wait for a transform asyncronously using coroutines.

This class is an example of waiting for transforms inside a callback without blocking the executor. The timer callback is a coroutine that gets suspended until the transform becomes available. It is assumed the TransformListener subscriptions are handled by the same executor as the timer callback, which this class does by creating both on the same node.

async on_timer()

examples_tf2_py.async_waits_for_transform.main()