parent
2707bc0b42
commit
7d0e7f1786
@ -0,0 +1,33 @@
|
||||
# Readme /pubsub
|
||||
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_.
|
||||
|
||||
## Files
|
||||
This section describes the content and purpose of the files inside this directory.
|
||||
`ros2 run` callable files:
|
||||
* *topic\_talker.py* : Example for creating a `MinimumPublisher` and sending topics
|
||||
* *topic\_listener.py* : Example for creating a `MinimumSubscriber` and receiving topics
|
||||
* *service\_host.py* : Example for creataing a `MinimumServiceProvider` and hosting a service
|
||||
* *service\_client.py* : Example for creating a `MinimumServiceClient` and calling a service
|
||||
* *statemachine\_host\_example.py* : Example application of State Machine (SM) hosting a service to call for a change of state
|
||||
* *statemachine\_client\_example.py* : Example application of a service client calling for the change of SM state
|
||||
|
||||
Library files:
|
||||
* \[*pubsub\_library* ; *pubsub\_library\_v2*\] : old versions
|
||||
* *pubsub\_library\_v3* : Library containing
|
||||
* `MinimalPublisher` class
|
||||
* `MinimalSubscriber` class
|
||||
* `MinimalServiceProvider` class
|
||||
* `MinimalServiceClient` class
|
||||
|
||||
## How to use
|
||||
You can use the `Minimal<X>` classes in three ways:
|
||||
* Create `Minimal<X>` in your script (eg. [topic_listener.py](None) where data is echanged between the script environment and the class environment)
|
||||
* Implement `Minimal<X>` inside your device class the same way as implementing in your main script (__<-- ToDo !!!__)
|
||||
* 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
|
||||
```python
|
||||
class Child_Class(Parent_Class):
|
||||
```
|
||||
For example:
|
||||
```python
|
||||
class StateMachineCMDServiceProvider(MinimalServiceProvider):
|
||||
```
|
Loading…
Reference in new issue