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.