GRID Docs | General Robotics

from grid_sim_client.isaac import GenericClient

A generic Zenoh client that can handle arbitrary message types and processing functions. This class inherits from ZenohClient and provides functionality for publishing and processing generic messages with optional custom processing functions.

Fields

str

The message type

callable

Optional function for custom message processing

The most recently published/received message

Constructor

Signature

GenericClient(
    *,
    client_dict: dict,
    agent_dict: Optional[dict] = None,
    shared_session: Any = None,
)

Initialize the generic client. Note: { For generic client, you also need to include the following keys:

“msg_type”: The message type (e.g., “Bool”, “Twist”, “Pose”)
“fn”: The function to process the message }

dict

required

Configuration dictionary for the client

dict, optional

Dictionary of agent parameters. Defaults to None.

Optional shared Zenoh session. Defaults to None.

Methods

`getLatestMessage()`

Signature

getLatestMessage() -> Any

Return the most recent message from the subscription queue. Blocks for up to one second waiting for a message. Returns: The raw payload bytes of the latest message, or None if no message was received within the timeout.

`get_msg()`

Signature

get_msg() -> Any

Get the most recent message. Returns: The most recently published/received message

`msg_cb()`

Signature

msg_cb(sample: Any) -> None

Handle an incoming Zenoh sample by storing its payload in the queue.

required

The Zenoh sample received from the subscription.

`process_latest_msg()`

Signature

process_latest_msg() -> None

Process the latest received message. Gets the latest message, deserializes it using CDR or JSON fallback, and processes it with the configured function if one exists. Returns: None

`publish()`

Signature

publish(data: bytes) -> None

Publish data to the topic.

required

Raw bytes to publish on the configured topic.

`publish_msg()`

Signature

publish_msg(msg: Any) -> None

Publish a message to the configured topic. If a processing function is defined, it will be called before publishing.

required

The message to publish (can be a pycdr2 IdlStruct, dict, or primitive)

Raises: Exception: If the message is None

`run()`

Signature

run() -> None

Start the client by declaring a subscriber or publisher on the session.

`stop()`

Signature

stop() -> None

Undeclare the subscriber and close the owned Zenoh session if any.