bob_topic_tools.drain
=====================

.. py:module:: bob_topic_tools.drain


Classes
-------

.. autoapisummary::

   bob_topic_tools.drain.DrainNode


Functions
---------

.. autoapisummary::

   bob_topic_tools.drain.main


Module Contents
---------------

.. py:class:: DrainNode

   Bases: :py:obj:`rclpy.node.Node`


   String topic forwarding node with drain behavior.


   .. py:attribute:: message_cache


   .. py:attribute:: frequency


   .. py:attribute:: timer


   .. py:attribute:: sub


   .. py:attribute:: pub


   .. py:method:: on_parameter_change(params)

      Handle dynamic parameter changes.



   .. py:method:: timer_callback()

      Publish next message if available.



   .. py:method:: input_callback(msg: std_msgs.msg.String)

      Handle incoming message callback.



.. py:function:: main()