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Version: 2.2.0

State API

The State service can handles a sensor (Button board for example), or an actuator (Power Switch board for example). Generally, this type of services allows to manage bi-state elements such as on/off, pushed/release, 0/1, ...

Its type has access to all common capabilities.


Functionsโ€‹

Function name and parametersActionComment
control(self)Displays service type graphical interfaceOnly available using Jupyter notebook

Variablesโ€‹

Variable nameActionType
stateSets or reads the service stateread / write: Boolean (True or False)

Eventsโ€‹

Event nameTrigger
changedAny state modification pressed or released
pressedState modification from True to False
releasedState modification from False to True

ROS topicsโ€‹

Topic nameMessage type
/button_mod/variables/state/readstd_msgs/msg/Bool
/button_mod/variables/state/writestd_msgs/msg/Bool
/button_mod/events/releasedluos_msgs/msg/BoolChange
/button_mod/events/pressedluos_msgs/msg/BoolChange
/button_mod/events/changedluos_msgs/msg/BoolChange