rclpy.type_support module

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

Bases: Protocol

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

info: service_msgs.msg.ServiceEventInfo

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

Bases: Msg, Protocol[FeedbackT]

feedback: FeedbackT

goal_id: unique_identifier_msgs.msg.UUID

rclpy.type_support.GetResultService

alias of Srv

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.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.

rclpy.type_support.SendGoalService

alias of Srv

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

Generic Service Type Alias.

rclpy.type_support.check_for_type_support(msg_or_srv_type: Type[Msg | Srv | Action]) → 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]) → None