launch_ros.descriptions.composable_node module

Module for a description of a ComposableNode.

class launch_ros.descriptions.composable_node.ComposableNode(*, package: launch.some_substitutions_type.SomeSubstitutionsType, plugin: launch.some_substitutions_type.SomeSubstitutionsType, name: launch.some_substitutions_type.SomeSubstitutionsType | None = None, namespace: launch.some_substitutions_type.SomeSubstitutionsType | None = None, parameters: Sequence[launch.some_substitutions_type.SomeSubstitutionsType | Path | ParameterFile | Parameter | Mapping[Sequence[launch.substitution.Substitution | str], ParameterValue | launch.some_substitutions_type.SomeSubstitutionsType | Sequence[launch.some_substitutions_type.SomeSubstitutionsType] | str | int | float | bool | Sequence[str] | Sequence[int] | Sequence[float] | Sequence[bool] | bytes | Mapping[Sequence[launch.substitution.Substitution | str], Any]]] | None = None, remappings: Iterable[Tuple[launch.some_substitutions_type.SomeSubstitutionsType, launch.some_substitutions_type.SomeSubstitutionsType]] | None = None, extra_arguments: Sequence[launch.some_substitutions_type.SomeSubstitutionsType | Path | ParameterFile | Parameter | Mapping[Sequence[launch.substitution.Substitution | str], ParameterValue | launch.some_substitutions_type.SomeSubstitutionsType | Sequence[launch.some_substitutions_type.SomeSubstitutionsType] | str | int | float | bool | Sequence[str] | Sequence[int] | Sequence[float] | Sequence[bool] | bytes | Mapping[Sequence[launch.substitution.Substitution | str], Any]]] | None = None, condition: launch.condition.Condition | None = None)

Bases: object

Describes a ROS node that can be loaded into a container with other nodes.

condition() launch.condition.Condition | None

Getter for condition.

property extra_arguments: Sequence[ParameterFile | Dict[Sequence[launch.substitution.Substitution], Sequence[launch.substitution.Substitution] | Sequence[Sequence[launch.substitution.Substitution]] | str | int | float | bool | Sequence[str] | Sequence[int] | Sequence[float] | Sequence[bool] | bytes | ParameterValue] | Parameter] | None

Get container extra arguments YAML files or dicts with substitutions to be performed.

property node_name: List[launch.substitution.Substitution] | None

Get node name as a sequence of substitutions to be performed.

property node_namespace: List[launch.substitution.Substitution] | None

Get node namespace as a sequence of substitutions to be performed.

property node_plugin: List[launch.substitution.Substitution]

Get node plugin name as a sequence of substitutions to be performed.

property package: List[launch.substitution.Substitution]

Get node package name as a sequence of substitutions to be performed.

property parameters: Sequence[ParameterFile | Dict[Sequence[launch.substitution.Substitution], Sequence[launch.substitution.Substitution] | Sequence[Sequence[launch.substitution.Substitution]] | str | int | float | bool | Sequence[str] | Sequence[int] | Sequence[float] | Sequence[bool] | bytes | ParameterValue] | Parameter] | None

Get node parameter YAML files or dicts with substitutions to be performed.

classmethod parse(parser: launch.frontend.Parser, entity: launch.frontend.Entity)

Parse composable_node.

property remappings: Iterable[Tuple[Tuple[launch.substitution.Substitution, ...], Tuple[launch.substitution.Substitution, ...]]] | None

Get node remapping rules as (from, to) tuples with substitutions to be performed.