betfsm_crospi.eTaSLOutput

Bases: TickingState

__init__(name, topic, qos=30, bb_location='/output_param', node=None)

At every tick processes the latest message from the topic and puts it on a predetermined location in the blackboard.

Parameters:
  • name (str) –

    instance name

  • topic (str) –

    topic to listen to, topics with interfacev crospi_interfaces/msg/Output are expected

  • qos (QoSProfile, default: 30 ) –

    specification of the topic quality of service profile (QOSProfile)

  • bb_location (str, default: '/output_param' ) –

    a location in the blackboard, written as a path, e.g. '/output_param'. The location has to exist when eTaSLOutput is first executed as a BeTFSM node

  • node (Node, default: None ) –

    ROS2 node where the subscription will run. if None, BeTFSMNode.get_instance() is used.
warning

will only store messages where for all variables in the message is_declared is true.