sas_robot_driver_coppeliasim.simros2_manager.SimROS2Manager Class Reference

Public Member Functions
	__init__ (self, sim)
	sys_call_init (self)
	sys_call_actuation (self)
	sys_call_sensing (self)
	sys_call_cleanup (self)

Public Attributes
Node	node = None
rclcpp_Node	rclcpp_node = None
	coppeliasim_sim = sim

Detailed Description

Manages ROS 2 lifecycle within a CoppeliaSim simulation.

Constructor & Destructor Documentation

__init__()

sas_robot_driver_coppeliasim.simros2_manager.SimROS2Manager.__init__	(		self,
			sim )

:param sim: CoppeliaSim simulation object provided by the simulator.

Member Function Documentation

sys_call_actuation()

sas_robot_driver_coppeliasim.simros2_manager.SimROS2Manager.sys_call_actuation

(

self

)

Runs the actuation update step.

sys_call_cleanup()

sas_robot_driver_coppeliasim.simros2_manager.SimROS2Manager.sys_call_cleanup

(

self

)

Destroys the nodes and shuts down ROS 2.

sys_call_init()

sas_robot_driver_coppeliasim.simros2_manager.SimROS2Manager.sys_call_init

(

self

)

Initializes rclpy, the C++ node, and the SimROS2Node.

sys_call_sensing()

sas_robot_driver_coppeliasim.simros2_manager.SimROS2Manager.sys_call_sensing

(

self

)

Runs the sensing update step and spins both nodes once.

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The documentation for this class was generated from the following file:

• src/sas_robot_driver_coppeliasim/sas_robot_driver_coppeliasim/simros2_manager.py