robokudo.io.ros
===============

.. py:module:: robokudo.io.ros


Attributes
----------

.. autoapisummary::

   robokudo.io.ros._rk_node
   robokudo.io.ros._rk_node_lock


Functions
---------

.. autoapisummary::

   robokudo.io.ros.init_node
   robokudo.io.ros.get_node


Module Contents
---------------

.. py:data:: _rk_node
   :type:  rclpy.node.Node
   :value: None


   Central RoboKudo ROS node.


.. py:data:: _rk_node_lock

   Lock for safe creation of the central ROS node.


.. py:function:: init_node(node_name: str, *args: typing_extensions.Any, **kwargs: typing_extensions.Any) -> rclpy.node.Node

   Initialize the central RoboKudo ROS node. Args and kwargs are passed directly to rclpy.create_node().

   Initializes the global rk_node variable if not already initialized. The node can simply be accessed through
   robokudo.io.ros.rk_node at any time.

   :param node_name: Name of the ROS node
   :return: The newly created ROS node


.. py:function:: get_node() -> rclpy.node.Node

   Get the central RoboKudo ROS node instance.

   :return: The central ROS node instance
   :raises RuntimeError: If the node has not been initialized yet