launch_ros.ros_adapters module

Module containing ROS specific adapters and their initialization.

class launch_ros.ros_adapters.ROSAdapter(*, argv: List[str] | None = None, autostart: bool = True)

Bases: object

Wraps rclpy API to ease ROS node usage in launch_ros actions.

property argv
property ros_context
property ros_executor
property ros_node
shutdown()

Shutdown ROS adapter.

start()

Start ROS adapter.

launch_ros.ros_adapters.get_ros_adapter(context: launch.LaunchContext)

Get the ROS adapter managed by the given launch context.

If no adapter is found, one will be created.

This function is reentrant but concurrent calls on the same context are not safe.

launch_ros.ros_adapters.get_ros_node(context: launch.LaunchContext)

Get the ROS node managed by the given launch context.

If no node is found, one will be created.

This function is reentrant but concurrent calls on the same context are not safe.