Skip to content

Latest commit

 

History

History
31 lines (25 loc) · 1.42 KB

CHANGES_TO_QML_ROS_PLUGIN.md

File metadata and controls

31 lines (25 loc) · 1.42 KB
Raw

Changes coming from qml_ros_plugin

  • No process global ros initialization anymore
    • You now have to call Ros2.init once which will create a custom context and node for the UI.
  • Topics can have multiple types
    • queryTopicType became queryTopicTypes and gives a list instead of a single string
    • TopicInfo's datatype became datatypes and is also now a list of strings

Ros2 Singleton

  • init now always takes the name first and the optional command line args second

Subscriber

  • Now called Subscription
  • Support for subscriber specific namespaces has been dropped
  • getNumPublishers is replaced by getPublisherCount
  • You can specify a messageType to subscribe to on the topic, if no type is specified, the type is determined automatically.
  • running changed to enabled to be consistent with other items

Service

  • Currently no singleton available. Instead a service client can be created using the Ros2 singleton.

Action

  • isServerConnected() renamed to isServerReady()
  • sendGoalAsync params changed and instead of callbacks now receives an options object which may contain callback members for onGoalResponse, onFeedback and onResult.
    See docs for details.
  • swapped order of name and type in arguments to conform with subscription etc.

TfTransform

  • Rate of 0 will now disable updates instead of removing throttling.
  • Removed active alias for enabled