launch_ros.substitutions package
Submodules
Module contents
substitutions Module.
- class launch_ros.substitutions.ExecutableInPackage(*args: Any, **kwargs: Any)
Bases:
FindPackagePrefix
Substitution that tries to locate an executable in the libexec directory of a ROS package.
The ROS package is located using ament_index_python.
- Raise:
ament_index_python.packages.PackageNotFoundError when package is not found during substitution
- Raise:
SubstitutionFailure when executable is not found, or package libexec directory doesn’t exist, during substitution
- describe() str
Return a description of this substitution as a string.
- property executable: List[launch.substitution.Substitution]
Getter for executable.
- classmethod parse(data: Sequence[launch.some_substitutions_type.SomeSubstitutionsType])
Parse a ExecutableInPackage substitution.
- perform(context: launch.launch_context.LaunchContext) str
Perform the substitution by locating the executable.
- class launch_ros.substitutions.FindPackage(*args: Any, **kwargs: Any)
Bases:
Substitution
Abstract base class for substitutions involving finding a package.
Subclasses should implement the find() method.
- describe() str
Return a description of this substitution as a string.
- find(package_name: str) str
Find a directory for a package.
Called when the substitution is performed.
- Param:
package_name The name of the package.
- Returns:
A directory related to the package.
- property package: List[launch.substitution.Substitution]
Getter for package.
- classmethod parse(data: Sequence[launch.some_substitutions_type.SomeSubstitutionsType])
Parse a FindPackage substitution.
- perform(context: launch.launch_context.LaunchContext) str
Perform the substitution by locating the package.
- class launch_ros.substitutions.FindPackagePrefix(*args: Any, **kwargs: Any)
Bases:
FindPackage
Substitution that tries to locate the package prefix of a ROS package.
The ROS package is located using ament_index_python.
- Raise:
ament_index_python.packages.PackageNotFoundError when package is not found during substitution.
- find(package_name: str) str
Find the package prefix.
Bases:
FindPackage
Substitution that tries to locate the share directory of a ROS package.
The directory is located using ament_index_python.
- Raise:
ament_index_python.packages.PackageNotFoundError when package is not found during substitution.
Find the share directory of a package.
- class launch_ros.substitutions.Parameter(*args: Any, **kwargs: Any)
Bases:
Substitution
Substitution that tries to get a parameter that was set by SetParameter.
- Raise:
SubstitutionFailure when param is not found
- describe() str
Return a description of this substitution as a string.
- property name: List[launch.substitution.Substitution]
Getter for name.
- classmethod parse(data: Sequence[launch.some_substitutions_type.SomeSubstitutionsType])
Parse a Parameter substitution.
- perform(context: launch.launch_context.LaunchContext) str
Perform the substitution.