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.
Functions
| Function name and parameters | Action | Comment |
|---|
| control(self) | Displays service type graphical interface | Only available using Jupyter notebook |
Variables
| Variable name | Action | Type |
|---|
| state | Sets or reads the service state | read / write: Boolean (True or False) |
Events
| Event name | Trigger |
|---|
| changed | Any state modification pressed or released |
| pressed | State modification from True to False |
| released | State modification from False to True |
ROS topics
| Topic name | Message type |
|---|
| /button_mod/variables/state/read | std_msgs/msg/Bool |
| /button_mod/variables/state/write | std_msgs/msg/Bool |
| /button_mod/events/released | luos_msgs/msg/BoolChange |
| /button_mod/events/pressed | luos_msgs/msg/BoolChange |
| /button_mod/events/changed | luos_msgs/msg/BoolChange |