rclpy.utilities module

rclpy.utilities.get_available_rmw_implementations()

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. Including an unavailable RMW implementation results in a RuntimeError.

rclpy.utilities.get_default_context(*, shutting_down=False)

Return the global default context singleton.

rclpy.utilities.get_rmw_implementation_identifier()

rclpy.utilities.ok(*, context=None)

rclpy.utilities.remove_ros_args(args=None)

rclpy.utilities.shutdown(*, context=None)

rclpy.utilities.timeout_sec_to_nsec(timeout_sec)

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 (float or None) – Seconds to wait. Block forever if None or negative. Don’t wait if < 1ns

Return type:

int

Returns:

rcl_wait compatible timeout in nanoseconds

rclpy.utilities.try_shutdown(*, context=None)

Shutdown rclpy if not already shutdown.