GRID Docs | General Robotics

from grid_sim_client.isaac import ZenohClient

Abstract base class for Zenoh pub/sub clients.

Constructor

Signature

ZenohClient(
    *,
    client_dict: Optional[dict] = None,
    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.

`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.

`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()

​msg_cb()

​process_latest_msg()

​publish()

​run()

​stop()

Constructor

Methods

`getLatestMessage()`

`msg_cb()`

`process_latest_msg()`

`publish()`

`run()`

`stop()`