rclpy

rclpy provides the canonical Python API for interacting with ROS 2.

• About
• Examples
• API
  • Clock
  • Initialization, Shutdown, and Spinning
    • create_node()
    • get_global_executor()
    • init()
    • shutdown()
    • spin()
    • spin_once()
    • spin_until_future_complete()
  • Node
  • Topics
    • Publisher
    • Subscription
  • Services
    • Client
    • Service
  • Actions
    • Action Client
    • Action Server
  • Time
    • Time
    • TimeHandle
  • Timer
    • Rate
    • Timer
  • Parameters
    • Parameter
    • Parameter Service
    • Parameter Client
  • Logging
    • clear_config()
    • get_logger()
    • get_logger_effective_level()
    • get_logger_level()
    • get_logging_directory()
    • get_logging_severity_from_string()
    • initialize()
    • set_logger_level()
    • shutdown()
  • Context
    • Context
    • ContextHandle
  • Execution and Callbacks
    • Executors
    • Callback Groups
  • Utilities
    • get_available_rmw_implementations()
    • get_default_context()
    • get_rmw_implementation_identifier()
    • ok()
    • remove_ros_args()
    • shutdown()
    • timeout_sec_to_nsec()
    • try_shutdown()
  • Quality of Service
• rclpy
  • rclpy package
    • Subpackages
    • Submodules
    • Module contents

Indices and tables

• Index

• Module Index

• Search Page