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.