rclpy.context module

class rclpy.context.Context

Bases: ContextManager[Context]

Encapsulates the lifecycle of init and shutdown.

Context objects should not be reused, and are finalized in their destructor. Wraps the rcl_context_t type.

Example:

>>> from rclpy.context import Context
>>> with Context() as context:
>>>     context.ok()
True

destroy() → None

get_domain_id() → int

Get domain id of context.

property handle: rpyutils.import_c_library.Context | None

init(args: List[str] | None = None, *, initialize_logging: bool = True, domain_id: int | None = None) → None

Initialize ROS communications for a given context.

Parameters:

• args – List of command line arguments.

• initialize_logging – Whether to initialize logging for the whole process. The default is to initialize logging.

• domain_id – Which domain ID to use for this context. If None (the default), domain ID 0 is used.

ok() → bool

Check if context hasn’t been shut down.

on_shutdown(callback: Callable[[], None]) → None

Add a callback to be called on shutdown.

shutdown() → None

Shutdown this context.

track_node(node: Node) → None

Track a Node associated with this Context.

When the Context is destroyed, it will destroy every Node it tracks.

Parameters:

node – The node to take a weak reference to.

try_shutdown() → None

Shutdown this context, if not already shutdown.

untrack_node(node: Node) → None

Stop tracking a Node associated with this Context.

If a Node is destroyed before the context, we no longer need to track it for destruction of the Context, so remove it here.