sas_robot_driver_coppeliasim.simros2_node.SimROS2Node Class Reference

Inheritance diagram for sas_robot_driver_coppeliasim.simros2_node.SimROS2Node:

Public Member Functions
	__init__ (self, rclcpp_Node rclcpp_node, sim)
	add_robot_manager (self, SimROS2RobotManager robot_manager)
	add_object_manager (self, SimROS2ObjectManager robot_manager)
	sensing_update (self)
	actuation_update (self)

Public Attributes
rclcpp_Node	rclcpp_node = rclcpp_node
list	robot_managers = []
list	object_managers = []
	coppeliasim_sim = sim

Detailed Description

ROS 2 node coordinating robot and object managers.

Constructor & Destructor Documentation

__init__()

sas_robot_driver_coppeliasim.simros2_node.SimROS2Node.__init__	(		self,
		rclcpp_Node	rclcpp_node,
			sim )

:param rclcpp_node: Companion C++ rclcpp node.
:param sim: CoppeliaSim simulation object provided by the simulator.

Member Function Documentation

actuation_update()

sas_robot_driver_coppeliasim.simros2_node.SimROS2Node.actuation_update

(

self

)

Calls actuation_update on all registered managers.

add_object_manager()

sas_robot_driver_coppeliasim.simros2_node.SimROS2Node.add_object_manager	(		self,
		SimROS2ObjectManager	robot_manager )

Registers a SimROS2ObjectManager with this node.

add_robot_manager()

sas_robot_driver_coppeliasim.simros2_node.SimROS2Node.add_robot_manager	(		self,
		SimROS2RobotManager	robot_manager )

Registers a SimROS2RobotManager with this node.

sensing_update()

sas_robot_driver_coppeliasim.simros2_node.SimROS2Node.sensing_update

(

self

)

Calls sensing_update on all registered managers.

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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_node.py