necst.core.server_node

class NotReassignableExecutor[source]

Bases: object

class ServerNode(node_name, max_nest=2, **kwargs)[source]

Bases: Node

Node which may serve some ROS service.

Server should catch and respond to service request anytime it’s ready.

Parameters

  • node_name (str) –

  • max_nest (int) –

NodeName: str
Namespace: str = ''
executor = None
start_server()[source]
Return type

None

stop_server()[source]
Return type

None

destroy_node()[source]

Destroy the node.

Frees resources used by the node, including any entities created by the following methods:

  • create_publisher()

  • create_subscription()

  • create_client()

  • create_service()

  • create_timer()

  • create_guard_condition()

Return type

None

wait_until_future_complete(future, timeout_sec=None)[source]

Block until future completes, or timeout expires.

The executor is attached by default, and spinning after calling start_server so recommended method of waiting until asynchronous call of service complete, i.e. spin_until_future_complete will raise a ValueError: generator already executing. This method will substitute the function, with minimal change of function name.

Notes

The implementation of timeout handling is based on Executor.spin_until_future_complete

Parameters

  • future (Future) –

  • timeout_sec (Optional[float]) –

Return type

None

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