Class Ros2Client

The UR TypeScript API for ROS 2

Index

Constructors

constructor

Methods

callService createSubscription createTransformSubscription getServicePath getTopicPath

Constructors

constructor

new Ros2Client(ros2Service: Ros2ServiceApi): Ros2Client
Create Ros2Client ROS2 client for UR ROS2 Web Bridge
Parameters
- ros2Service: Ros2ServiceApi
  Ros2 service for ROS2 communication
Returns Ros2Client
- Defined in node_modules/@universal-robots/contribution-api/lib/ros2/ros2-client.d.ts:31

Methods

callService

callService<T>(
    serviceType: string,
    servicePath: string,
    argumentValues: unknown,
    qosProfile?: QoSProfile,
    timeout?: string,
): Promise<T>
Make a ROS2 service call for setting argumentValues on a service, and return an observable of type T.
Type Parameters
- T
Parameters
- serviceType: string
  The type of ROS service to set argumentValues on.
- servicePath: string
  ServicePath The name of the service to set argumentValues on, may include namespace.
- argumentValues: unknown
  Values to be set.
- OptionalqosProfile: QoSProfile
  optional quality of service profile to apply to the service client. Default is QoSProfile.default.
- Optionaltimeout: string
  optional float value in seconds, default is 30.0 seconds before timeout.
Returns Promise<T>
The first message returned from the service call. @deprecated. Use call method with MessageDefinitions
- Defined in node_modules/@universal-robots/contribution-api/lib/ros2/ros2-client.d.ts:96
callService<TRequest, TResponse>(
    serviceType: ServiceWrapper,
    servicePath: string,
    argumentValues: TRequest,
): Promise<TResponse>
Make a ROS2 service call for setting argumentValues on a service, and return an observable of type T.
Type Parameters
- TRequest
- TResponse
Parameters
- serviceType: ServiceWrapper
  The type of ROS service to set argumentValues on.
- servicePath: string
  ServicePath The name of the service to set argumentValues on, may include namespace.
- argumentValues: TRequest
  Values to be set.
Returns Promise<TResponse>
The first message returned from the service call.
- Defined in node_modules/@universal-robots/contribution-api/lib/ros2/ros2-client.d.ts:104

createSubscription

createSubscription<T>(
    messageType: string,
    topicPath: string,
    qosProfile?: QoSProfile,
): Observable<T>
Create a new subscription to a ROS2 topic.
Type Parameters
- T
Parameters
- messageType: string
  The type of ROS messages the subscription will subscribe to.
- topicPath: string
  TopicPath The name of the topic the subscription will subscribe to, may include ros2 namespace.
- OptionalqosProfile: QoSProfile
  optional quality of service profile to apply to the subscription. Default is QoSProfile.default.
Returns Observable<T>
Observable to subscribe to

Deprecated
Use createSubscription method that takes MessageDefinition[]
- Defined in node_modules/@universal-robots/contribution-api/lib/ros2/ros2-client.d.ts:70
createSubscription<T>(
messageType: MessageDefinition[],
topicPath: string,
): Observable<T>
Create a new subscription to a ROS2 topic.
Type Parameters
- T
Parameters
- messageType: MessageDefinition[]
- topicPath: string
  TopicPath The name of the topic the subscription will subscribe to, may include ros2 namespace.
Returns Observable<T>
Observable to subscribe to
- Defined in node_modules/@universal-robots/contribution-api/lib/ros2/ros2-client.d.ts:77

createTransformSubscription

createTransformSubscription(
targetFrame: string,
sourceFrame: string,
): Observable<IRosTypeGeometryMsgsTransform>
Create a new subscription for frame transformation
Parameters
- targetFrame: string
- sourceFrame: string
Returns Observable<IRosTypeGeometryMsgsTransform>
Observable to subscribe to

Deprecated
Use framesService.observeFrames and convertPose instead.
- Defined in node_modules/@universal-robots/contribution-api/lib/ros2/ros2-client.d.ts:85

getServicePath

getServicePath(
    prependRobotNamespace: boolean,
    serviceName: string,
    ...namespace: string[],
): Promise<string>
Get service path to be used for ROS2 communication, including optional robot namespace and custom namespace.
Parameters
- prependRobotNamespace: boolean
  boolean if true then local ROS2 robot namespace will be prepended to service name.
- serviceName: string
  string to be used for ROS2 communication.
- ...namespace: string[]
  optional namespaces to prepend service name.
Returns Promise<string>
ServicePath extending Promise
- Defined in node_modules/@universal-robots/contribution-api/lib/ros2/ros2-client.d.ts:47

getTopicPath

getTopicPath(
    prependRobotNamespace: boolean,
    topic: string,
    ...namespace: string[],
): Promise<string>
Get topic path to be used for ROS2 communication, including optional robot namespace and custom namespace.
Parameters
- prependRobotNamespace: boolean
  boolean if true then local ROS2 robot namespace will be prepended to topic.
- topic: string
  string to be used for ROS2 communication.
- ...namespace: string[]
  optional namespaces to prepend topic.
Returns Promise<string>
TopicPath extending Promise
- Defined in node_modules/@universal-robots/contribution-api/lib/ros2/ros2-client.d.ts:39

Class Ros2Client

Index

Constructors

Methods

Constructors

constructor

Parameters

Returns Ros2Client

Methods

callService

Type Parameters

Parameters

Returns Promise<T>

Type Parameters

Parameters

Returns Promise<TResponse>

createSubscription

Type Parameters

Parameters

Returns Observable<T>

Deprecated

Type Parameters

Parameters

Returns Observable<T>

createTransformSubscription

Parameters

Returns Observable<IRosTypeGeometryMsgsTransform>

Deprecated

getServicePath

Parameters

Returns Promise<string>

getTopicPath

Parameters

Returns Promise<string>

Settings

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