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GenericClient

Inherits from: ROSClient

A generic ROS client that can handle arbitrary message types and processing functions.

This class inherits from ROSClient and provides functionality for publishing and processing generic ROS messages with optional custom processing functions.

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Attributes
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msg

The most recently published/received message

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GenericClient

GenericClient(client_dict, agent_dict)

Initialize the generic client.

For generic client, you also need to include the following keys:

  • “msg_type”: The ROS message type
  • “fn”: The function to process the message
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Arguments
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client_dict (dict)
required

Configuration dictionary for the client

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agent_dict (dict), optional

defaults to None. Dictionary of agent parameters. Defaults to None.

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publish_msg

GenericClient.publish_msg(msg)

Publish a message to the configured topic. If a processing function is defined, it will be called before publishing.

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Arguments
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msg
required

The message to publish

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get_msg

GenericClient.get_msg()

Get the most recent message.

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Returns

The most recently published/received message

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