ROSTypeDBInterface

class ros_typedb.ros_typedb_interface.ROSTypeDBInterface(node_name, **kwargs)

ROS lifecycle node to interact with typedb.

Create ROSTypeDBInterface node, inherits from lifecycle node.

Methods

`__init__`(node_name, **kwargs)	Create ROSTypeDBInterface node, inherits from lifecycle node.
`delete_data_event`()	Publish 'delete' in the /event topic.
`init_typedb_interface`(address, database_name)	Initialize self.typedb_interface.
`insert_data_event`()	Publish 'insert' in the /event topic.
`on_cleanup`(state)	Cleanup ROSTypeDBInterface when the cleanup transition is called.
`on_configure`(state)	Configure ROSTypeDBInterface when the configure transition is called.
`publish_data_event`(event_type)	Publish message in the /event topic.
`query_service_cb`(req, response)	Handle callback for ~/query service.

Attributes

__init__(node_name, **kwargs): Create ROSTypeDBInterface node, inherits from lifecycle node.

delete_data_event()

Publish ‘delete’ in the /event topic.

Return type:: None

init_typedb_interface(address, database_name, schema_path=None, data_path=None, force_database=False, force_data=False, infer=False)

Initialize self.typedb_interface.

Parameters:

address (str) – TypeDB server address.
database_name (str) – database name.
schema_path (Union[list[str], str, None]) – list with paths to schema files (.tql).
data_path (Union[list[str], str, None]) – list with paths to data files (.tql).
force_database (Optional[bool]) – if database should override an existing database
force_data (Optional[bool]) – if the database data should be overriden.
infer (Optional[bool]) – if inference engine should be used.

Return type:

None

insert_data_event()

Publish ‘insert’ in the /event topic.

Return type:: None

on_cleanup(state)

Cleanup ROSTypeDBInterface when the cleanup transition is called.

Return type:: TransitionCallbackReturnType
Returns:: transition result

on_configure(state)

Configure ROSTypeDBInterface when the configure transition is called.

Return type:: TransitionCallbackReturnType
Returns:: transition result

publish_data_event(event_type)

Publish message in the /event topic.

Parameters:: event_type (str) – event to be published, e.g., ‘insert’ or ‘delete’.
Return type:: None

query_service_cb(req, response)

Handle callback for ~/query service.

Perform the query requested with the ~/query service.

Parameters:

req (Query_Request) – query to be performed
response (Query_Response) – query result

Return type:

Query_Response

Returns:

query result