rp_xcore.xcore_api module

class rp_xcore.xcore_api.XCoreAPI

Bases: Node

A ROS 2 node class that publishes configuration messages to the xcore_api_config topic.

check_for_ui_controls(config)

Checks if there are ui controls in the config to create/clear self.ui_publishers publishers.

connect_cloud_orc()

Listens to the orc.* channels in Redis and processes messages.

connect_redis()

Connects to the Redis server.

current_config_callback(msg)

Callback function that is called when a new message is received on the ‘xcore_orc/config’ topic.

image_base64_callback(msg)

Callback function that is called when a new message is received on the ‘xcore_image_publisher/output_image_base64’ topic.

node_status_callback(msg)

Callback function that is called when a new message is received on the ‘xcore/flow_state’ topic.

poses_callback(msg)

Callback function for new pose

publish_config(config)

Publishes a configuration message to the xcore_api_config topic.

publish_node_logs_to_redis(config)

Retrieves logs for the given node_name from a known log file and publishes them to a Redis channel.

send_heartbeat()

Periodically sends a heartbeat signal to Redis to keep the device alive.

set_heartbeat()

trigger_ui_control(data)

Triggers ui controlled node

rp_xcore.xcore_api.main(args=None)

Initializes the ROS 2 environment and starts the XCoreAPI node.