hbp_nrp_cle.externalsim.ExternalModuleManager module

The manager for the external modules which extend the NRP through ROS launch mechanism.

class ExternalModuleManager(module_names=None)

Bases: object

This class automatically detects the external modules searching the ROS services available at the ROS server. It keeps and array of the external modules and calls initialize, run_step ans shutdown methods for each external module. One object of this class is used by the Deterministic Closed Loop Engine and is synchronized with it making every external module on the array also synchronized.

initialize()

This method is used to run all initialize methods served at each external models at once.

run_step()

This method is used to run all run_step methods served at each external models at once.

shutdown()

This method is used to run all shutdown methods served at each external models at once.