launch_ros.descriptions package

Submodules

Module contents

descriptions Module.

class launch_ros.descriptions.ComposableLifecycleNode(*, autostart: bool = False, **kwargs)

Bases: ComposableNode

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

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.

init_lifecycle_event_manager(context: launch.LaunchContext) None
property node_autostart

Getter for autostart.

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.

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.

class launch_ros.descriptions.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.

class launch_ros.descriptions.Parameter(name: launch.SomeSubstitutionsType, value: launch.utilities.type_utils.SomeValueType, *, value_type: launch.utilities.type_utils.AllowedTypesType | None = None)

Bases: object

Describes a ROS parameter.

evaluate(context: launch.LaunchContext) Tuple[str, EvaluatedParameterValue]

Evaluate and return parameter rule.

property name: List[launch.substitution.Substitution] | str

Getter for parameter name.

property value: launch.utilities.type_utils.SomeValueType

Getter for parameter value.

property value_type: launch.utilities.type_utils.AllowedTypesType

Getter for parameter value type.

class launch_ros.descriptions.ParameterFile(param_file: launch.utilities.typing_file_path.FilePath | launch.SomeSubstitutionsType, *, allow_substs: [<class 'bool'>, launch.SomeSubstitutionsType] = False)

Bases: object

Describes a ROS parameter file.

property allow_substs: bool | List[launch.substitution.Substitution]

Getter for allow substitutions argument.

cleanup()

Delete created temporary files.

evaluate(context: launch.LaunchContext) Path

Evaluate and return a parameter file path.

property param_file: launch.utilities.typing_file_path.FilePath | List[launch.substitution.Substitution]

Getter for parameter file.

class launch_ros.descriptions.ParameterValue(value: launch.utilities.type_utils.SomeValueType, *, value_type: launch.utilities.type_utils.AllowedTypesType | None = None)

Bases: object

Describes a ROS parameter value.

evaluate(context: launch.LaunchContext) EvaluatedParameterValue

Evaluate and return parameter rule.

property value: launch.utilities.type_utils.SomeValueType

Getter for parameter value.

property value_type: launch.utilities.type_utils.AllowedTypesType

Getter for parameter value type.