rclpy.type_support module

class rclpy.type_support.Action(*args, **kwargs)

Bases: Protocol[GoalT, ResultT, FeedbackT]

Feedback: Type[FeedbackT]
Goal: Type[GoalT]
Impl: Type[Impl[GoalT, ResultT, FeedbackT]]
Result: Type[ResultT]
class rclpy.type_support.CommonMsgSrvMetaClass(name, bases, namespace, /, **kwargs)

Bases: _ProtocolMeta

Shared attributes between messages and services.

class rclpy.type_support.EventMessage(*args, **kwargs)

Bases: Msg, Protocol[SrvRequestT, SrvResponseT]

info: service_msgs.msg._service_event_info.ServiceEventInfo
request: Iterable[SrvRequestT]
response: Iterable[SrvResponseT]
class rclpy.type_support.FeedbackMessage(*args, **kwargs)

Bases: Msg, Protocol[FeedbackT]

feedback: FeedbackT
goal_id: unique_identifier_msgs.msg.UUID
class rclpy.type_support.GetResultServiceRequest(*args, **kwargs)

Bases: Msg, Protocol

goal_id: unique_identifier_msgs.msg.UUID
class rclpy.type_support.GetResultServiceResponse(*args, **kwargs)

Bases: Msg, Protocol[ResultT]

result: ResultT
status: int
class rclpy.type_support.Impl(*args, **kwargs)

Bases: Protocol[GoalT, ResultT, FeedbackT]

CancelGoalService: ClassVar[Type[action_msgs.srv._cancel_goal.CancelGoal]]
FeedbackMessage: Type[FeedbackMessage[FeedbackT]]
GetResultService: Type[Srv[GetResultServiceRequest, GetResultServiceResponse[ResultT]]]
GoalStatusMessage: ClassVar[Type[action_msgs.msg._goal_status_array.GoalStatusArray]]
SendGoalService: Type[Srv[SendGoalServiceRequest[GoalT], SendGoalServiceResponse]]
class rclpy.type_support.Msg(*args, **kwargs)

Bases: Protocol

Generic Message Alias.

class rclpy.type_support.MsgMetaClass(name, bases, namespace, /, **kwargs)

Bases: CommonMsgSrvMetaClass

Generic Message Metaclass Alias.

class rclpy.type_support.PyCapsule(*args, **kwargs)

Bases: Protocol

Alias for PyCapsule Pybind object.

class rclpy.type_support.SendGoalServiceRequest(*args, **kwargs)

Bases: Msg, Protocol[GoalT]

goal: GoalT
goal_id: unique_identifier_msgs.msg.UUID
class rclpy.type_support.SendGoalServiceResponse(*args, **kwargs)

Bases: Msg, Protocol

accepted: bool
stamp: builtin_interfaces.msg.Time
class rclpy.type_support.Srv(*args, **kwargs)

Bases: Protocol[SrvRequestT, SrvResponseT]

Generic Service Type Alias.

Event: Type[EventMessage[SrvRequestT, SrvResponseT]]
Request: Type[SrvRequestT]
Response: Type[SrvResponseT]
rclpy.type_support.check_for_type_support(msg_or_srv_type: Type[Msg | Srv[Any, Any] | Action[Any, Any, Any]]) None
rclpy.type_support.check_is_valid_msg_type(msg_type: Type[Msg]) None
rclpy.type_support.check_is_valid_srv_type(srv_type: Type[Srv[Any, Any]]) None