GRID Docs | General Robotics

from grid_sim_client.isaac import ImageClient

Constructor

Signature

ImageClient(
    *,
    client_dict: dict,
    agent_dict: Optional[dict] = None,
    shared_session: Any = 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_image()`

Signature

get_image() -> Optional[np.ndarray]

`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 message from the queue. Override in subclasses.

`publish()`

Signature

publish(data: bytes) -> None

Publish data to the topic.

required

Raw bytes to publish on the configured topic.

`publish_image()`

Signature

publish_image(
    data: np.ndarray,
    encoding: str = 'rgb8',
    compressed: bool = True,
    format: str = 'jpeg',
    quality: int = 85,
) -> None

Publish an image to the topic.

required

Image data as numpy array

default:"'rgb8'"

Image encoding (e.g., “rgb8”, “32FC1”)

default:"True"

Whether to use compressed image format (default: True)

default:"'jpeg'"

Compression format (“jpeg” or “png”), only used if compressed=True

default:"85"

JPEG quality (0-100), only used for JPEG compression

`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.

​Constructor

​Methods

​getLatestMessage()

​get_image()

​msg_cb()

​process_latest_msg()

​publish()

​publish_image()

​run()

​stop()

Constructor

Methods

`getLatestMessage()`

`get_image()`

`msg_cb()`

`process_latest_msg()`

`publish()`

`publish_image()`

`run()`

`stop()`