ros2agnocast.bridge_utils module

Shared utilities for A2R bridge activation.

Used by both ros2agnocast._bridged_ros2cli (CLI bridge commands) and ros2agnocast._a2r_bridge_activator (background activator for bag recording etc.).

ros2agnocast.bridge_utils.create_dummy_subscription(node, topic_name: str, msg_type)

Create and return a dummy ROS 2 subscription to trigger the A2R bridge.

The subscription only needs to exist; no spinning is required to keep it alive.

ros2agnocast.bridge_utils.dummy_sub_qos() → rclpy.qos.QoSProfile

QoS profile for a dummy ROS 2 subscription used to trigger A2R bridges.

ros2agnocast.bridge_utils.load_msg_class(type_name: str)

Load and return the ROS message class for type_name.

Returns the message class on success, or None if the class cannot be loaded (error is printed to stdout).