Context

class rclpy.context.Context

Encapsulates the lifecycle of init and shutdown.

Context objects should not be reused, and are finalized in their destructor. Wraps the rcl_context_t type.

Example:

>>> from rclpy.context import Context
>>> with Context() as context:
>>>     context.ok()
True

destroy() → None

get_domain_id() → int: Get domain id of context.

property handle: ContextHandle | None

init(args: List[str] | None = None, *, initialize_logging: bool = True, domain_id: int | None = None) → None

Initialize ROS communications for a given context.

Parameters:: args – List of command line arguments.

ok() → bool: Check if context hasn’t been shut down.

on_shutdown(callback: Callable[[], None]) → None: Add a callback to be called on shutdown.

shutdown() → None: Shutdown this context.

try_shutdown() → None: Shutdown this context, if not already shutdown.

class rclpy.context.ContextHandle(*args, **kwargs)

get_domain_id() → int

ok() → bool

shutdown() → None