AbbClient.send_and_subscribe

AbbClient.send_and_subscribe(instruction, callback)[source]

Send instruction and activate a service on the robot to stream feedback at a regular inverval.

Parameters:
instructioncompas_fab.backends.ros.messages.ROSmsg

ROS Message representing the instruction to send.

callback

Python function to be invoked every time a new value is made available.

Notes

This feature is currently only usable with custom instructions.