pyrobosim_ros.ros_interface.WorldROSWrapper

class pyrobosim_ros.ros_interface.WorldROSWrapper(*args: Any, **kwargs: Any)

ROS 2 wrapper node for pyrobosim worlds.

Methods

__init__([world, name, num_threads, ...])	Creates a ROS 2 world wrapper node.
action_callback(goal_handle)	Handle single action callback.
action_cancel_callback(goal_handle)	Handle cancellation for single action goals.
add_robot_ros_interfaces(robot)	Adds a velocity command subscriber and state publisher for a specific robot.
dynamics_callback()	Updates the dynamics of all spawned robots based on the latest received velocity commands.
is_robot_busy(robot)	Check if a robot is currently executing an action or plan.
package_robot_state(robot)	Creates a ROS message containing a robot state.
plan_callback(goal_handle)	Handle task plan action callback.
plan_cancel_callback(goal_handle)	Handle cancellation for task plans.
publish_robot_state(pub, robot)	Helper function to publish robot state.
remove_robot_ros_interfaces(robot)	Removes ROS interfaces for a specific robot.
robot_detect_objects_callback(goal_handle[, ...])	Handle object detection action callback for a specific robot.
robot_path_cancel_callback(goal_handle[, robot])	Handle a cancel request for the robot path following action.
robot_path_follow_callback(goal_handle[, robot])	Handle path following action callback for a specific robot.
robot_path_plan_callback(goal_handle[, robot])	Handle path planning action callback for a specific robot.
robot_path_planner_reset_callback(request, ...)	Resets a robot's path planner as a response to a service request.
set_location_state_callback(request, response)	Sets the state of a location in the world as a response to a service request.
set_world(world)	Sets a world.
shutdown()	Shuts down cleanly.
start([wait_for_gui, auto_spin])	Starts the node.
velocity_command_callback(msg, robot)	Handle single velocity command callback.
world_state_callback(request, response)	Returns the world state as a response to a service request.