as2fm.scxml_converter.scxml_entries.scxml_ros_topic.RosTopicPublisher

class as2fm.scxml_converter.scxml_entries.scxml_ros_topic.RosTopicPublisher(interface_name: str | BtGetValueInputPort, interface_type: str, interface_alias: str | None = None)

Bases: RosDeclaration

Object used in SCXML root to declare a new topic publisher.

__init__(interface_name: str | BtGetValueInputPort, interface_type: str, interface_alias: str | None = None)

Constructor of ROS declaration.

Parameters:

interface_name – Comm. interface used by the declared ROS interface.
interface_type – ROS type used for communication.
interface_alias – Alias for the defined interface, used for ref. by the the handlers

Methods

`__init__`(interface_name, interface_type[, ...])	Constructor of ROS declaration.
`as_plain_scxml`(_, __)	Convert the object to its plain SCXML version.
`as_xml`()	Convert the object to an XML element.
`check_valid_instantiation`()	Check if the interface name is still undefined (i.e.
`check_valid_interface_type`()
`check_validity`()	Check if the object is valid.
`from_xml_tree`(xml_tree, custom_data_types, ...)	External interface to create a ScxmlBase object from an XML tree.
`from_xml_tree_impl`(xml_tree, custom_data_types)	Create an instance of the class from an XML tree.
`get_body`()	Get the body of the object.
`get_communication_interface`()	Which communication interface is used by the ROS declaration.
`get_custom_data_types`()	Get the container with custom data types.
`get_id`()	Get the ID of the object.
`get_interface_name`()	Get the name of the ROS comm.
`get_interface_type`()	Get the ROS type used for communication.
`get_name`()	Get the alias name of the ROS interface.
`get_tag_name`()	The xml tag related to the ROS declaration.
`get_xml_arg_interface_name`()
`get_xml_origin`()	Get the xml_element this object was made from.
`is_plain_scxml`()	Check if the object is compatible with the plain SCXML standard.
`set_custom_data_types`(custom_data_types)	Save container with custom data types.
`set_xml_origin`(xml_origin)	Set the xml_element this object was made from.
`update_bt_ports_values`(bt_ports_handler)	Update the values of potential entries making use of BT ports.

as_plain_scxml(_, __) → List[ScxmlBase]: Convert the object to its plain SCXML version.

as_xml() → _Element: Convert the object to an XML element.

check_valid_instantiation() → bool: Check if the interface name is still undefined (i.e. from BT ports).

check_validity() → bool: Check if the object is valid.

classmethod from_xml_tree(xml_tree: _Element, custom_data_types: Dict[str, StructDefinition], **kwargs) → Self: External interface to create a ScxmlBase object from an XML tree.

classmethod from_xml_tree_impl(xml_tree: _Element, custom_data_types: Dict[str, StructDefinition]) → RosDeclaration: Create an instance of the class from an XML tree.

get_body(): Get the body of the object.

classmethod get_communication_interface() → str

Which communication interface is used by the ROS declaration.

Expected values: “service”, “action”

get_custom_data_types() → Dict[str, StructDefinition]: Get the container with custom data types.

get_id() → str: Get the ID of the object.

get_interface_name() → str: Get the name of the ROS comm. interface.

get_interface_type() → str: Get the ROS type used for communication.

get_name() → str: Get the alias name of the ROS interface.

static get_tag_name() → str: The xml tag related to the ROS declaration.

get_xml_origin() → _Element | None: Get the xml_element this object was made from.

is_plain_scxml() → bool: Check if the object is compatible with the plain SCXML standard.

set_custom_data_types(custom_data_types: Dict[str, StructDefinition]): Save container with custom data types.

set_xml_origin(xml_origin: _Element): Set the xml_element this object was made from.

update_bt_ports_values(bt_ports_handler: BtPortsHandler) → None: Update the values of potential entries making use of BT ports.