hbp_nrp_cle.externalsim.ExternalModule module

Includes the corresponding CLE class for external ROS modules.

class ExternalModule(module_name)

Bases: object

External ROS modules have initialize, run_step and shutdown methods. This class has the corresponding initialize, run_step and shutdown methods which triggers the external ones through ROS service proxies. Objects of this class is synchronized with the Deterministic Closed Loop Engine via ExternalModuleManager.

initialize()

This method triggers the initialize method served at the external module synchronously with the CLE.

run_step()

This method triggers the run_step method served at the external module synchronously with the CLE.

shutdown()

This method triggers the shutdown method served at the external module synchronously with the CLE.