niryo_libraries.rosbridge_library.internal.subscribers.MultiSubscriber

class documentation

class MultiSubscriber:

Constructor: MultiSubscriber(topic, msg_type)

Handles multiple clients for a single subscriber.

Converts msgs to JSON before handing them to callbacks. Due to subscriber callbacks being called in separate threads, must lock whenever modifying or accessing the subscribed clients.

Method	`__init__`	Register a subscriber on the specified topic.
Method	`callback`	Callback for incoming messages on the rospy.Subscriber
Method	`has_subscribers`	Return true if there are subscribers
Method	`subscribe`	Subscribe the specified client to this subscriber.
Method	`unregister`	Undocumented
Method	`unsubscribe`	Unsubscribe the specified client from this subscriber
Method	`verify_type`	Verify that the subscriber subscribes to messages of this type.
Instance Variable	`lock`	Undocumented
Instance Variable	`msg_class`	Undocumented
Instance Variable	`subscriber`	Undocumented
Instance Variable	`subscriptions`	Undocumented
Instance Variable	`topic`	Undocumented

def __init__(self, topic, msg_type=None): ¶

Keyword arguments: topic -- the name of the topic to register the subscriber on msg_type -- (optional) the type to register the subscriber as. If not provided, an attempt will be made to infer the topic type

Throws: TopicNotEstablishedException -- if no msg_type was specified by the caller and the topic is not yet established, so a topic type cannot be inferred TypeConflictException -- if the msg_type was specified by the caller and the topic is established, and the established type is different to the user-specified msg_type

def callback(self, msg, callbacks=None): ¶

Callback for incoming messages on the rospy.Subscriber

Passes the message to registered subscriber callbacks.

Keyword Arguments: msg - the ROS message coming from the subscriber callbacks - subscriber callbacks to invoke

def has_subscribers(self): ¶

Return true if there are subscribers

def subscribe(self, client_id, callback): ¶

Subscribe the specified client to this subscriber.

Keyword arguments: client_id -- the ID of the client subscribing callback -- this client's callback, that will be called for incoming messages

def unregister(self): ¶

Undocumented

def unsubscribe(self, client_id): ¶

Unsubscribe the specified client from this subscriber

Keyword arguments: client_id -- the ID of the client to unsubscribe

def verify_type(self, msg_type): ¶

Verify that the subscriber subscribes to messages of this type.

Keyword arguments: msg_type -- the type to check this subscriber against

Throws: Exception -- if ros_loader cannot load the specified msg type TypeConflictException -- if the msg_type is different than the type of this publisher

lock = ¶

Undocumented

msg_class = ¶

Undocumented

subscriber = ¶

Undocumented

subscriptions: dict = ¶

Undocumented

topic = ¶

Undocumented