synchros2

synchros2 is a collection of utilities and wrappers built on top of rclpy. These utilities simplify ROS 2 usage by enabling standard, idiomatic, synchronous Python programming. To that end, synchros2 relies on heavy yet implicit concurrency and thus there is overhead in its simplicity.relying on implicit concurrency for simplicity.

Features

• Process-wide ROS 2 nodes
• RPC-like action and service clients
• Stateful stream-like topic subscriptions

Changelog for package synchros2

1.0.2 (2025-11-12)

• [SW-2822] Rename repository to synchros2 (#180)
• Contributors: Michel Hidalgo

1.0.1 (2025-11-12)

• Mark [test_log_forwarding]{.title-ref} as flaky (#177)
• Change to new RAI Institute copyright (#175)
• Contributors: Ben Axelrod, Michel Hidalgo

1.0.0 (2025-11-07)

• Polish synchros2 documentation (#172)
• Tutorial on using TF with synchros2 (#173)
• Tutorial on writing actions with synchros2 (#165)
• Bump timeout in test that was being flaky (#174)
• Move synchros2 tutorials to their own package and create custom message (#164)
• Fix mypy errors (#169)
• Add Jazzy support (#171)
• Update mypy version (#170)
• Add a Timers and Callbacks tutorial (#163)
• Support callbacks in ActionFuture (#168)
• Simplify prebaked node naming (#167)
• Make synchros2 rosdoc2 compliant (#166)
• Getting started guide (#162)
• Fix circular synchros2.scope import (#161)
• Make synchros2 fully ROS clock aware (#160)
• Improve [synchros2]{.title-ref} executors (#158)
• Add example of thread affinity control with multi-threaded executor (#156)
• Handle concurrent context shutdowns (#154)
• Extend AutoScalingMultiThreadedExecutor to support thread pool pinning (#153)
• Add trace parameter for message feeds (#151)
• Mitigate hangs induced by multi-threaded executors on scope exit (#152)
• Edits for Humble 3/31/2025 patch (#146)
• Add ensure_node() to process (#145)
• Add utility functions to poll for number of subscriptions or publishers on a topic (#144)
• Add publisher extension (#140)
• Workaround another race around Waitables (#143)
• Standardize the copyright text to align with the proper corporate identity (#142)
• Manage executor tasks exceptions (#141)
• Exact synchronization filter and message feed (#139)
• Move values.py from bdai_ros to synchros2 (#138)
• Fix [synchros2]{.title-ref} aliasing as [bdai_ros2_wrappers]{.title-ref} (#135)
• Organize [ros_utilities]{.title-ref} for release (#133)
• Contributors: Andrew Messing, Ben Axelrod, Jenny Barry, Tiffany Cappellari, Michel Hidalgo