rclpy.waitable module

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

Bases: object

num_clients

num_events

num_guard_conditions

num_services

num_subscriptions

num_timers

class rclpy.waitable.Waitable(callback_group)

Bases: object

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)

add_to_wait_set(wait_set): Add entities to wait set.

async execute(taken_data): Execute work after data has been taken from a ready wait set.

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

is_ready(wait_set): Return True if entities are ready in the wait set.

remove_future(future)

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