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[N/A] Clarify prebaked docstring #42

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11 changes: 6 additions & 5 deletions bdai_ros2_wrappers/bdai_ros2_wrappers/process.py
Original file line number Diff line number Diff line change
Expand Up @@ -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.
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