betfsm_ros.TopicEvent_Condition

Bases: Condition

__init__(node=None, topic_name='crospi_node/my_output', queue_size=10, max_age=0.5, consume=True)

To be used as a condition for EventOutcome, EventConcurrent, EventSequential
Parameters: node: ROS2 node

topic_name:
    name of the topic to subscribe to

queue_size:
    size of the queue related to maximum concurrent events, i.e. sample time in relation
    to the events generated. Because the underlying receiver is a singleton, the maximum
    queue size of everybody who requested an instance of the receiver is taken.

max_age:
    maximum age of the events that still will be received.

consume:
    consumes received events. in some special cases where different event checkers check the same
    event, only one will consume and the other will observe.