34 lines
1.9 KiB
Markdown
34 lines
1.9 KiB
Markdown
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# Readme /pubsub
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This directory represents a ROS package due to its internal structure and files. The files inside `pubsub/pubsub/` are the Python scripts written by the package developer and can be called using the command line `ros2 run pubsub <entry_point_name>`. The `<entry_point_name>` has to be defined in _setup.py_.
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## Files
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This section describes the content and purpose of the files inside this directory.
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`ros2 run` callable files:
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* *topic\_talker.py* : Example for creating a `MinimumPublisher` and sending topics
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* *topic\_listener.py* : Example for creating a `MinimumSubscriber` and receiving topics
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* *service\_host.py* : Example for creataing a `MinimumServiceProvider` and hosting a service
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* *service\_client.py* : Example for creating a `MinimumServiceClient` and calling a service
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* *statemachine\_host\_example.py* : Example application of State Machine (SM) hosting a service to call for a change of state
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* *statemachine\_client\_example.py* : Example application of a service client calling for the change of SM state
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Library files:
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* \[*pubsub\_library* ; *pubsub\_library\_v2*\] : old versions
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* *pubsub\_library\_v3* : Library containing
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* `MinimalPublisher` class
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* `MinimalSubscriber` class
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* `MinimalServiceProvider` class
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* `MinimalServiceClient` class
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## How to use
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You can use the `Minimal<X>` classes in three ways:
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* Create `Minimal<X>` in your script (eg. [topic_listener.py](None) where data is echanged between the script environment and the class environment)
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* Implement `Minimal<X>` inside your device class the same way as implementing in your main script (__<-- ToDo !!!__)
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* Build device class upon `Minimal<X>` class (eg. [statemachine_host_example.py](None) where a device class is built upon the `MinimalServiceProvider` class) by implementing this structure
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```python
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class Child_Class(Parent_Class):
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```
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For example:
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```python
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class StateMachineCMDServiceProvider(MinimalServiceProvider):
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```
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