rclpy.waitable module

class rclpy.waitable.NumberOfEntities(num_subs: int = 0, num_gcs: int = 0, num_timers: int = 0, num_clients: int = 0, num_services: int = 0, num_events: int = 0)

Bases: object

num_clients

num_events

num_guard_conditions

num_services

num_subscriptions

num_timers

class rclpy.waitable.Waitable(callback_group: CallbackGroup)

Bases: Generic[T]

Add something to a wait set and execute it.

This class wraps a collection of entities which can be added to a wait set.

add_future(future: Future[Any]) → None

add_to_wait_set(wait_set: rpyutils.import_c_library.WaitSet) → None: Add entities to wait set.

async execute(taken_data: T) → None: Execute work after data has been taken from a ready wait set.

get_num_entities() → NumberOfEntities: Return number of each type of entity used.

is_ready(wait_set: rpyutils.import_c_library.WaitSet) → bool: Return True if entities are ready in the wait set.

remove_future(future: Future[Any]) → None

take_data() → T: Take stuff from lower level so the wait set doesn’t immediately wake again.