Utilities
- rclpy.utilities.get_available_rmw_implementations() Set[str]
Return the set of all available RMW implementations as registered in the ament index.
The result can be overridden by setting an environment variable named
RMW_IMPLEMENTATIONS. The variable can contain RMW implementation names separated by the platform specific path separator.- Raises:
RuntimeError – if the environment variable includes a missing RMW implementation.
- rclpy.utilities.get_default_context(*, shutting_down: bool = False) Context
Return the global default context singleton.
- rclpy.utilities.get_rmw_implementation_identifier() str
Return the identifier of the current RMW implementation.
- rclpy.utilities.ok(*, context: Context | None = None) bool
Return
Trueif the givenContextis initialized and not shut down.- Parameters:
context – a
Contextto check, else the global default context is used.- Returns:
Trueif the context is valid.
- rclpy.utilities.remove_ros_args(args: Sequence[str] | None = None) List[str]
Return a list of only the non-ROS command line arguments.
- Parameters:
args – A list of command line arguments to filter from. If None then
sys.argvis used instead.- Returns:
A list of all command line arguments that are not used by ROS.
- rclpy.utilities.shutdown(*, context: Context | None = None) None
Shutdown the given
Context.- Parameters:
context – a
Contextto check, else the global default context is used.
- rclpy.utilities.timeout_sec_to_nsec(timeout_sec: float | None) int
Convert timeout in seconds to rcl compatible timeout in nanoseconds.
Python tends to use floating point numbers in seconds for timeouts. This utility converts a python-style timeout to an integer in nanoseconds that can be used by
rcl_wait.- Parameters:
timeout_sec – Seconds to wait. Block forever if None or negative. Don’t wait if < 1ns
- Returns:
rcl_wait compatible timeout in nanoseconds