rosbridge_library.capabilities.advertise module

class rosbridge_library.capabilities.advertise.Advertise(protocol)

Bases: Capability

advertise(message)

advertise_msg_fields = ((True, 'topic', <class 'str'>), (True, 'type', <class 'str'>))

finish()

Notify this capability that the client is finished.

Tells the capability that it’s time to free up resources.

topics_glob = None

unadvertise(message)

unadvertise_msg_fields = ((True, 'topic', <class 'str'>),)

class rosbridge_library.capabilities.advertise.Registration(client_id, topic, node_handle)

Bases: object

Keeps track of how many times a client has requested to advertise a publisher.

A client could advertise and unadvertise a topic multiple times, and we must make sure that the underlying publisher is only created and destroyed at the appropriate moments

is_empty()

register_advertisement(msg_type, adv_id=None, latch=False, queue_size=100)

unregister()

unregister_advertisement(adv_id=None)