rclpy
  • About
  • Examples
  • API
    • Clock
    • Initialization, Shutdown, and Spinning
      • InitContextManager
      • create_node()
      • get_global_executor()
      • init()
      • shutdown()
      • spin()
      • spin_once()
      • spin_until_future_complete()
      • try_shutdown()
    • Node
      • Node
        • Node.PARAM_REL_TOL
        • Node.ParameterInput
        • Node.add_on_set_parameters_callback()
        • Node.add_post_set_parameters_callback()
        • Node.add_pre_set_parameters_callback()
        • Node.add_waitable()
        • Node.clients
        • Node.context
        • Node.count_clients()
        • Node.count_publishers()
        • Node.count_services()
        • Node.count_subscribers()
        • Node.create_client()
        • Node.create_guard_condition()
        • Node.create_publisher()
        • Node.create_rate()
        • Node.create_service()
        • Node.create_subscription()
        • Node.create_timer()
        • Node.declare_parameter()
        • Node.declare_parameters()
        • Node.default_callback_group
        • Node.describe_parameter()
        • Node.describe_parameters()
        • Node.destroy_client()
        • Node.destroy_guard_condition()
        • Node.destroy_node()
        • Node.destroy_publisher()
        • Node.destroy_rate()
        • Node.destroy_service()
        • Node.destroy_subscription()
        • Node.destroy_timer()
        • Node.executor
        • Node.get_client_names_and_types_by_node()
        • Node.get_clock()
        • Node.get_fully_qualified_name()
        • Node.get_fully_qualified_node_names()
        • Node.get_logger()
        • Node.get_name()
        • Node.get_namespace()
        • Node.get_node_names()
        • Node.get_node_names_and_namespaces()
        • Node.get_node_names_and_namespaces_with_enclaves()
        • Node.get_parameter()
        • Node.get_parameter_or()
        • Node.get_parameter_type()
        • Node.get_parameter_types()
        • Node.get_parameters()
        • Node.get_parameters_by_prefix()
        • Node.get_publisher_names_and_types_by_node()
        • Node.get_publishers_info_by_topic()
        • Node.get_service_names_and_types()
        • Node.get_service_names_and_types_by_node()
        • Node.get_subscriber_names_and_types_by_node()
        • Node.get_subscriptions_info_by_topic()
        • Node.get_topic_names_and_types()
        • Node.guards
        • Node.handle
        • Node.has_parameter()
        • Node.list_parameters()
        • Node.publishers
        • Node.remove_on_set_parameters_callback()
        • Node.remove_post_set_parameters_callback()
        • Node.remove_pre_set_parameters_callback()
        • Node.remove_waitable()
        • Node.resolve_service_name()
        • Node.resolve_topic_name()
        • Node.services
        • Node.set_descriptor()
        • Node.set_parameters()
        • Node.set_parameters_atomically()
        • Node.subscriptions
        • Node.timers
        • Node.undeclare_parameter()
        • Node.wait_for_node()
        • Node.waitables
    • Topics
      • Publisher
        • Publisher
      • Subscription
        • MessageInfo
        • Subscription
    • Services
      • Client
        • Client
      • Service
        • Service
    • Actions
      • Action Client
        • ActionClient
        • ClientGoalHandle
        • SendGoalKWargs
      • Action Server
        • ActionServer
        • CancelResponse
        • GoalResponse
        • ServerGoalHandle
        • default_cancel_callback()
        • default_goal_callback()
        • default_handle_accepted_callback()
    • Time
      • Time
        • Time.clock_type
        • Time.from_msg()
        • Time.nanoseconds
        • Time.seconds_nanoseconds()
        • Time.to_msg()
    • Timer
      • Rate
        • Rate.destroy()
        • Rate.sleep()
      • Timer
        • Timer.cancel()
        • Timer.clock
        • Timer.destroy()
        • Timer.handle
        • Timer.is_canceled()
        • Timer.is_ready()
        • Timer.reset()
        • Timer.time_since_last_call()
        • Timer.time_until_next_call()
        • Timer.timer_period_ns
      • TimerInfo
        • TimerInfo.actual_call_time
        • TimerInfo.expected_call_time
    • Parameters
      • Parameter
        • Parameter
        • get_parameter_value()
        • parameter_dict_from_yaml_file()
        • parameter_value_to_python()
      • Parameter Service
        • ParameterService
      • Parameter Client
        • AsyncParameterClient
    • Logging
      • clear_config()
      • get_logger()
      • get_logger_effective_level()
      • get_logger_level()
      • get_logging_directory()
      • get_logging_severity_from_string()
      • initialize()
      • set_logger_level()
      • shutdown()
    • Context
      • Context
        • Context.destroy()
        • Context.get_domain_id()
        • Context.handle
        • Context.init()
        • Context.ok()
        • Context.on_shutdown()
        • Context.shutdown()
        • Context.track_node()
        • Context.try_shutdown()
        • Context.untrack_node()
    • Execution and Callbacks
      • Executors
        • ConditionReachedException
        • Executor
        • ExternalShutdownException
        • MultiThreadedExecutor
        • ShutdownException
        • SingleThreadedExecutor
        • TimeoutException
        • TimeoutObject
        • await_or_execute()
      • Callback Groups
        • CallbackGroup
        • MutuallyExclusiveCallbackGroup
        • ReentrantCallbackGroup
    • Utilities
      • get_available_rmw_implementations()
      • get_default_context()
      • get_rmw_implementation_identifier()
      • ok()
      • remove_ros_args()
      • shutdown()
      • timeout_sec_to_nsec()
      • try_shutdown()
    • Quality of Service
  • rclpy
    • rclpy package
      • Subpackages
        • rclpy.action package
        • rclpy.experimental package
        • rclpy.impl package
        • rclpy.lifecycle package
      • Submodules
        • rclpy.callback_groups module
        • rclpy.client module
        • rclpy.clock module
        • rclpy.clock_type module
        • rclpy.constants module
        • rclpy.context module
        • rclpy.duration module
        • rclpy.event_handler module
        • rclpy.exceptions module
        • rclpy.executors module
        • rclpy.expand_topic_name module
        • rclpy.guard_condition module
        • rclpy.logging module
        • rclpy.logging_service module
        • rclpy.node module
        • rclpy.parameter module
        • rclpy.parameter_client module
        • rclpy.parameter_event_handler module
        • rclpy.parameter_service module
        • rclpy.publisher module
        • rclpy.qos module
        • rclpy.qos_event module
        • rclpy.qos_overriding_options module
        • rclpy.serialization module
        • rclpy.service module
        • rclpy.service_introspection module
        • rclpy.signals module
        • rclpy.subscription module
        • rclpy.subscription_content_filter_options module
        • rclpy.task module
        • rclpy.time module
        • rclpy.time_source module
        • rclpy.timer module
        • rclpy.topic_endpoint_info module
        • rclpy.topic_or_service_is_hidden module
        • rclpy.type_description_service module
        • rclpy.type_hash module
        • rclpy.type_support module
        • rclpy.utilities module
        • rclpy.validate_full_topic_name module
        • rclpy.validate_namespace module
        • rclpy.validate_node_name module
        • rclpy.validate_parameter_name module
        • rclpy.validate_topic_name module
        • rclpy.wait_for_message module
        • rclpy.waitable module
      • Module contents
        • InitContextManager
        • create_node()
        • get_global_executor()
        • init()
        • shutdown()
        • spin()
        • spin_once()
        • spin_until_future_complete()
        • try_shutdown()
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