motion_stack.ros2.ros2_asyncio package
Used to await sleep in callbacks and also fix the bugged executor.
Origin: https://github.com/tlangmo/ros2_asyncio/tree/main Author: Tobias Lang
- async motion_stack.ros2.ros2_asyncio.sleep(node, timeout_sec)[source]
Ros2 compatible coroutine sleep function.
It works similar to asyncio.sleep() but it is compatible with the Ros2 event loop. @see https://www.notion.so/aescape/Asynchronous-programming-with-ROS-2-Python-Api-f26cb40c0f634528816abea0d66d968b
- Parameters:
node (Node)
timeout_sec (float)
- async motion_stack.ros2.ros2_asyncio.wait_for(node, coro_or_future, timeout_sec)[source]
Ros2 compatible coroutine to wait for a future with timeout.
It works similar to asyncio.wait_for() but it is compatible with the Ros2 event loop. @see https://www.notion.so/aescape/Asynchronous-programming-with-ROS-2-Python-Api-f26cb40c0f634528816abea0d66d968b
- Parameters:
node (Node)
coro_or_future (Future | Awaitable)
timeout_sec (float)
- motion_stack.ros2.ros2_asyncio.ensure_future(node, coro_or_future)[source]
Wrap a coroutine or an awaitable in a Ros2 future.
- Return type:
Task- Parameters:
coro_or_future (Future | Awaitable)
- motion_stack.ros2.ros2_asyncio.gather(node, *coros_or_futures, return_exceptions=False)[source]
Return a future aggregating results from the given coroutines/futures.
Based on Python’s asyncio/tasks.py
- Parameters:
node (Node)
Submodules
motion_stack.ros2.ros2_asyncio.ros2_asyncio module
- motion_stack.ros2.ros2_asyncio.ros2_asyncio.ensure_future(node, coro_or_future)[source]
Wrap a coroutine or an awaitable in a Ros2 future.
- Return type:
Task- Parameters:
coro_or_future (Future | Awaitable)
- async motion_stack.ros2.ros2_asyncio.ros2_asyncio.sleep(node, timeout_sec)[source]
Ros2 compatible coroutine sleep function.
It works similar to asyncio.sleep() but it is compatible with the Ros2 event loop. @see https://www.notion.so/aescape/Asynchronous-programming-with-ROS-2-Python-Api-f26cb40c0f634528816abea0d66d968b
- Parameters:
node (Node)
timeout_sec (float)
- async motion_stack.ros2.ros2_asyncio.ros2_asyncio.wait_for(node, coro_or_future, timeout_sec)[source]
Ros2 compatible coroutine to wait for a future with timeout.
It works similar to asyncio.wait_for() but it is compatible with the Ros2 event loop. @see https://www.notion.so/aescape/Asynchronous-programming-with-ROS-2-Python-Api-f26cb40c0f634528816abea0d66d968b
- Parameters:
node (Node)
coro_or_future (Future | Awaitable)
timeout_sec (float)