betfsm_crospi.CrospiOutput

Bases: GeneratorWithState

Record output of Crospi in a topic while executing subtree

__init__(name, topic, subtree=None, queue_size=1000000, path='/output', node=None)

Record output of Crospi in a topic while executing subtree

Parameters:
  • name –

    str name of the node

  • topic –

    str ROS2 topic to subscribe to, should be of message type Output

  • subtree –

    TickingState, optional subtree to execute, None will be converted into AlwaysOutcome(SUCCEED), by default None

  • queue_size –

    int, optional maximum length of the buffer to record the data, by default 1_000_000

  • path –

    str, optional path inside the blackboard, by default "/output"

  • node –

    Node, optional ROS2 node, if None, BeTFSMNode.get_instance() will be used. by default None