necst.core.auth.authorizer

class Authorizer(**kwargs)[source]

Bases: Node

Singleton privilege server.

To interact with this server, subclass PrivilegeNode.

This server doesn’t authenticate the client, i.e. any node who describes itself as privileged node (by identity string) can have access to privileged operations.

Variables

  • request_srv (rclpy.service.Service) – ROS 2 service server, listens on privilege (removal) requests.

  • ping_cli (rclpy.client.Client) – ROS 2 service client, checks status of privileged nodes.

Examples

>>> server = necst.core.Authorizer()
>>> rclpy.spin(server)
NodeName = 'authorizer'
Namespace = '/necst/OMU1P85M/core/auth'
property approved: Optional[str]

Identity string of currently privileged node.

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