Class Ros2EventService

Service for ROS2 communication Uses event based messaging for communication

Hierarchy (View Summary)

MessageInvokerService
- Ros2EventService

Implements

Ros2ServiceApi

Index

Constructors

constructor

new Ros2EventService(
target: UREventTarget | CommunicationChannel,
): Ros2EventService
Create event based messaging implementation of the Ros2ServiceApi for ROS2 communication
Parameters
- target: UREventTarget | CommunicationChannel
  Either a Worker to be used as the EventTarget or a standard
Returns Ros2EventService
Overrides MessageInvokerService.constructor
- Defined in node_modules/@universal-robots/contribution-api/lib/ros2/ros2-event-service.d.ts:15

Properties

communicationChannel

communicationChannel: CommunicationChannel

`Readonly`eventTarget

eventTarget: EventTargetOrCommChannel

Methods

callService

callService<T>(
    serviceType: ServiceWrapper,
    serviceName: string,
    argumentValues: unknown,
): Observable<T>
Call service to set argumentValues of service type on service name
Type Parameters
- T
Parameters
- serviceType: ServiceWrapper
- serviceName: string
- argumentValues: unknown
Returns Observable<T>
Promise with value
Implementation of Ros2ServiceApi.callService
- Defined in node_modules/@universal-robots/contribution-api/lib/ros2/ros2-event-service.d.ts:45

getRos2Namespace

getRos2Namespace(): Promise<string>
Get local ROS2 robot namespace

Returns Promise<string>
Promise containing local ROS2 robot namespace
Implementation of Ros2ServiceApi.getRos2Namespace
- Defined in node_modules/@universal-robots/contribution-api/lib/ros2/ros2-event-service.d.ts:20

postAndAwait

postAndAwait<T>(type: string, data?: any): Promise<T>
returns a reply promise to the specified message
Type Parameters
- T
Parameters
- type: string
  The type of message being sent
- Optionaldata: any
  The message data
Returns Promise<T>
Inherited from MessageInvokerService.postAndAwait
- Defined in node_modules/@universal-robots/contribution-api/lib/services/message-invoker.d.ts:192

postAndObserve

postAndObserve<T>(type: string, data?: any): Observable<T>
returns an observable that will emit any messages replied to the specified message
Type Parameters
- T
Parameters
- type: string
  The type of message being sent
- Optionaldata: any
  The message data
Returns Observable<T>
Inherited from MessageInvokerService.postAndObserve
- Defined in node_modules/@universal-robots/contribution-api/lib/services/message-invoker.d.ts:199

request

request<T>(type: string, data?: any): Promise<T>
returns a reply promise for the requested message
Type Parameters
- T
Parameters
- type: string
  The type of message being sent
- Optionaldata: any
  The message data
Returns Promise<T>
Inherited from MessageInvokerService.request
- Defined in node_modules/@universal-robots/contribution-api/lib/services/message-invoker.d.ts:178

requestObserve

requestObserve<T>(type: string, data?: any): Observable<T>
returns an observable that will emit any messages replied to the requested message
Type Parameters
- T
Parameters
- type: string
  The type of message being sent
- Optionaldata: any
  The message data
Returns Observable<T>
Inherited from MessageInvokerService.requestObserve
- Defined in node_modules/@universal-robots/contribution-api/lib/services/message-invoker.d.ts:185

subscribe<T>(messageType: MessageDefinition[], topic: string): Observable<T>
Subscribe to topicPath with given message type using QoS profile
Type Parameters
- T
Parameters
- messageType: MessageDefinition[]
- topic: string
Returns Observable<T>
Observable to subscribe to
Implementation of Ros2ServiceApi.subscribe
- Defined in node_modules/@universal-robots/contribution-api/lib/ros2/ros2-event-service.d.ts:27

subscribeTransform

subscribeTransform<T>(
    connectionId: string,
    targetFrame: string,
    sourceFrame: string,
    publishRate?: number,
): Observable<T>
Subscribe to frame transformation
Type Parameters
- T
Parameters
- connectionId: string
  Id for subscription
- targetFrame: string
- sourceFrame: string
- OptionalpublishRate: number
  in milliseconds
Returns Observable<T>
Observable to subscribe to
Implementation of Ros2ServiceApi.subscribeTransform
- Defined in node_modules/@universal-robots/contribution-api/lib/ros2/ros2-event-service.d.ts:36

Class Ros2EventService

Hierarchy (View Summary)

Implements

Index

Constructors

Properties

Methods

Constructors

constructor

Parameters

Returns Ros2EventService

Properties

communicationChannel

ReadonlyeventTarget

Methods

callService

Type Parameters

Parameters

Returns Observable<T>

getRos2Namespace

Returns Promise<string>

postAndAwait

Type Parameters

Parameters

Returns Promise<T>

postAndObserve

Type Parameters

Parameters

Returns Observable<T>

request

Type Parameters

Parameters

Returns Promise<T>

requestObserve

Type Parameters

Parameters

Returns Observable<T>

subscribe

Type Parameters

Parameters

Returns Observable<T>

subscribeTransform

Type Parameters

Parameters

Returns Observable<T>

Settings

On This Page

`Readonly`eventTarget