Interface Ros2ServiceApi

Service API for ROS2 communication

Hierarchy

  • Ros2ServiceApi

Implemented by

Methods

callService getRos2Namespace subscribe subscribeTransform

Methods

callService

  • Call service to set argumentValues of service type on service name

    Returns

    Observable to subscribe to

    Type Parameters

    • T

    Parameters

    • connectionId: string

      Id for the subscription to unsubscribe

    • serviceType: string
    • serviceName: string
    • argumentValues: unknown
    • Optional qosProfile: QoSProfile

      optional quality of service profile to apply to the service client.

    • Optional timeout: number

      optional float value in seconds.

    Returns Observable<T>

getRos2Namespace

  • Get local ROS2 robot namespace

    Returns

    Promise containing local ROS2 robot namespace

    Returns Promise<string>

subscribe

  • Subscribe to topicPath with given message type using QoS profile

    Returns

    Observable to subscribe to

    Type Parameters

    Parameters

    • connectionId: string

      Id for subscription

    • messageType: string
    • topic: string
    • Optional qosProfile: QoSProfile

      optional quality of service profile to apply to the subscription.

    Returns Observable<T>

subscribeTransform

  • Subscribe to frame transformation

    Returns

    Observable to subscribe to

    Type Parameters

    Parameters

    • connectionId: string

      Id for subscription

    • targetFrame: string
    • sourceFrame: string
    • Optional publishRate: number

      in milliseconds

    Returns Observable<T>

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