necst.core.device_node

class DeviceNode(node_name, *, context=None, cli_args=None, namespace=None, use_global_arguments=True, enable_rosout=True, start_parameter_services=True, parameter_overrides=None, allow_undeclared_parameters=False, automatically_declare_parameters_from_overrides=False)[source]

Bases: Node

Device handling node, which knows procedures required to control devices.

Parameters

  • node_name (str) –

  • context (Optional[Context]) –

  • cli_args (Optional[List[str]]) –

  • namespace (Optional[str]) –

  • use_global_arguments (bool) –

  • enable_rosout (bool) –

  • start_parameter_services (bool) –

  • parameter_overrides (Optional[List[Parameter]]) –

  • allow_undeclared_parameters (bool) –

  • automatically_declare_parameters_from_overrides (bool) –

destroy_node()[source]

Override destroy_node to ensure that the device is finalized.

This implementation assumes the device controllers are registered as instance variables. In other cases, you should invoke finalize method manually.

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