diff --git a/bdai_ros2_wrappers/bdai_ros2_wrappers/process.py b/bdai_ros2_wrappers/bdai_ros2_wrappers/process.py index 7e6316f..2f0b175 100644 --- a/bdai_ros2_wrappers/bdai_ros2_wrappers/process.py +++ b/bdai_ros2_wrappers/bdai_ros2_wrappers/process.py @@ -61,11 +61,12 @@ def __init__( func: a ``main``-like function to wrap ie. a callable taking a sequence of strings, an `argparse.Namespace` (if a CLI is specified), or nothing, and returning a integer exit code or nothing. - prebaked: whether to instantiate a prebaked or a bare process i.e. a process bearing - an implicit node and executor, or not. May also specificy the exact name for the implicit - node, or, if True, the current executable basename without its extension (or CLI program - name if one is specified) will be used. Note that completely bare processes do not bear a - node nor spin an executor, which brings them closest to standard ROS 2 idioms. + prebaked: whether to instantiate a prebaked process or a bare process. Defaults to True. + Note that: + - a prebaked process has an implicit node and an executor; + - a bare process has neither, which brings it the closest to standard ROS 2 idioms; + - when `prebaked=True`, the implicit node name will be the current executable basename without extension (or CLI program name if one is specified); + - when `prebaked="string"`, the given string will be used as the implicit node name. autospin: whether to automatically equip the underlying scope with a background executor or not. Defaults to True for prebaked processes and to False for bare processes. uses_tf: whether to instantiate a tf listener bound to the process main node. Defaults to False.