Modules
This section consists of tips, tricks, and usage examples of the pykal.ROSNode and pykal.ros2py_py2ros modules. The following notebooks are a complement to the API reference and it is recommended to have both at hand (e.g. in an open tab) while you are developing with pykal.
“ROSNode” covers the core wrapper class that transforms Python callbacks into ROS2 nodes, including subscription/publication configuration, staleness policies, and node lifecycle management.
“ROS2PY and PY2ROS” explains the message conversion system that automatically translates between ROS message types and NumPy arrays, including how to register custom message types.
“Custom Messages” provides guidance on working with custom ROS message types beyond the standard message library.
- ROSNode
- Conceptual Foundation
- Programmatic Implementation
- References and Examples
- Part 1: Basic Node Structure
- Part 2: Stateful Callbacks with Closures
- Part 3: Multi-Rate Sensor Fusion with Staleness Policies
- Part 4: Required Topics and Error Handling
- Part 5: Diagnostics and Heartbeat Monitoring
- Part 6: Running and Managing Nodes
- Part 7: Integration with DynamicalSystem
- Part 8: Complete Example - Car Cruise Control ROS Deployment
- Summary
- ros2py_py2ros