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src/m_ros2py.py

+#______________________________________________________________________________________________________________________________________________
+#Author:        VV
+#Description:   Class to simplify the creation of ros2 nodes
+#Date:          01.08.24
+#______________________________________________________________________________________________________________________________________________
+#imports
 from rclpy.node import Node
 from std_msgs.msg import *
 
+#______________________________________________________________________________________________________________________________________________
+#wrapper for creating ros2 node as publisher, subscriber, clients, service
 class ros2node(Node):
     def __init__(self, nodeName):
         super().__init__(nodeName)
@@ -11,20 +19,30 @@ class ros2node(Node):
         self._clients = {}
         self.as_ClientService = False
         
+#______________________________________________________________________________________________________________________________________________
+#ros2 publisher
     def create_publisher_with_timer(self, topicName, msgType, func, rate):
         self._publishers[topicName] = self.create_publisher(msgType, topicName, 10)
         self._timers[topicName] = self.create_timer(rate, lambda: self.timer_callback(topicName, func))
+#______________________________________________________________________________________________________________________________________________
+#ros2 subscriber
 
     def create_subscriber(self, topicName, msgType, func):
         self._subscribers[topicName] = self.create_subscription(msgType, topicName, func, 10)
+#______________________________________________________________________________________________________________________________________________
+#ros2 service
 
     def create_new_service(self, topicName, msgType, func):
         self._services[topicName] = self.create_service(msgType, topicName, func)
         self.as_ClientService = True
+#______________________________________________________________________________________________________________________________________________
+#ros2 client
 
     def create_new_client(self, topicName, msgType):
         self._clients[topicName] =  self.create_client(msgType, topicName) 
         self.as_ClientService = True
+#______________________________________________________________________________________________________________________________________________
+#external executable callback function  
      
     def timer_callback(self, topicName, func):
         if not self.as_ClientService:
@@ -35,6 +53,10 @@ class ros2node(Node):
                 # self.get_logger().info(f'Publishing: "{msg.data}" on topic: "{topicName}"')
             else:
                 self.get_logger().info(f'No publisher found for topic: "{topicName}"')
+#______________________________________________________________________________________________________________________________________________
+#getter
 
     def get_client(self, topicName):
         return self._clients.get(topicName)
+#______________________________________________________________________________________________________________________________________________
+#setter
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