ROSTypeDBInterface

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

ROS lifecycle node to interact with typedb.

Initialize the lifecycle node and declare runtime parameters.

Parameters:

node_name (str) – ROS node name.
kwargs – Extra keyword arguments passed to Node.

Methods

`__init__`(node_name, **kwargs)	Initialize the lifecycle node and declare runtime parameters.
`delete_data_event`()	Publish a delete event in the `/event` topic.
`delete_db_cb`(_req, response)	Handle callback for ~/delete_database service.
`init_typedb_interface`(address, database_name)	Initialize self.typedb_interface.
`insert_data_event`()	Publish an insert event 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)

Initialize the lifecycle node and declare runtime parameters.

Parameters:

node_name (str) – ROS node name.
kwargs – Extra keyword arguments passed to Node.

delete_data_event()

Publish a delete event in the /event topic.

Return type:: None
Returns:: None.

delete_db_cb(_req, response)

Handle callback for ~/delete_database service.

Parameters:

_req (Empty_Request) – Empty request payload (unused).
response (Empty_Response) – Empty service response.

Return type:

Empty_Response

Returns:

Response after deleting the configured database.

init_typedb_interface(address, database_name, schema_path=None, data_path=None, force_database=False, force_data=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 (bool) – if database should override an existing database
force_data (bool) – if the database data should be overridden.

Return type:

None

Returns:

None.

insert_data_event()

Publish an insert event in the /event topic.

Return type:: None
Returns:: None.

on_cleanup(_state)

Cleanup ROSTypeDBInterface when the cleanup transition is called.

Parameters:: _state (LifecycleState) – Lifecycle transition state (unused).
Return type:: TransitionCallbackReturnType
Returns:: Transition callback status.

on_configure(_state)

Configure ROSTypeDBInterface when the configure transition is called.

Parameters:: _state (LifecycleState) – Lifecycle transition state (unused).
Return type:: TransitionCallbackReturnType
Returns:: Transition callback status.

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
Returns:: None.

query_service_cb(req, response)

Handle callback for ~/query service.

Perform the query requested with the ~/query service.

Parameters:

req (Query_Request) – Incoming service request with query type and TypeQL text.
response (Query_Response) – Pre-allocated ROS service response.

Return type:

Query_Response

Returns:

Filled response with success flag and optional payload.