launch_ros.actions.node module
Module for the Node action.
- class launch_ros.actions.node.Node(*args: Any, **kwargs: Any)
Bases:
ExecuteProcess
Action that executes a ROS node.
- UNSPECIFIED_NODE_NAME = '<node_name_unspecified>'
- UNSPECIFIED_NODE_NAMESPACE = '<node_namespace_unspecified>'
- execute(context: launch.launch_context.LaunchContext) List[launch.action.Action] | None
Execute the action.
Delegated to
launch.actions.ExecuteProcess.execute()
.
- property expanded_node_namespace
Getter for expanded_node_namespace.
- property expanded_remapping_rules
Getter for expanded_remappings.
- is_node_name_fully_specified()
- property node_executable
Getter for node_executable.
- property node_name
Getter for node_name.
- property node_package
Getter for node_package.
- classmethod parse(entity: launch.frontend.Entity, parser: launch.frontend.Parser)
Parse node.
- static parse_nested_parameters(params, parser)
Normalize parameters as expected by Node constructor argument.
- class launch_ros.actions.node.NodeActionExtension
Bases:
object
The extension point for launch_ros node action extensions.
The following properties must be defined: * NAME (will be set to the entry point name)
The following methods may be defined: * command_extension * execute
- EXTENSION_POINT_VERSION = '0.1'
- NAME = None
- prepare_for_execute(context, ros_specific_arguments, node_action)
Perform any actions prior to the node’s process being launched.
context is the context within which the launch is taking place, containing amongst other things the command line arguments provided by the user.
ros_specific_arguments is a dictionary of command line arguments that will be passed to the executable and are specific to ROS.
node_action is the Node action instance that is calling the extension.
This method must return a tuple of command line additions as a list of launch.substitutions.TextSubstitution objects, and ros_specific_arguments with any modifications made to it. If no modifications are made, it should return [], ros_specific_arguments.
- launch_ros.actions.node.expose_action(_)
- launch_ros.actions.node.get_extensions(logger)
- launch_ros.actions.node.instantiate_extension(group_name, extension_name, extension_class, extensions, logger, *, unique_instance=False)