subscribe_imu

Signature:

BoosterRobot.subscribe_imu(
    callback: Callable[[IMUState], None],
    *,
    imu_id: str = "",
    queue_size: int = 0,
    overflow: OverflowPolicy = "drop_oldest",
) -> SensorSubscription

Description:

Subscribe to IMU data updates. When data arrives, the callback receives an IMUState object.

Parameters:

Parameter	Type	Default	Description
callback	Callable[[IMUState], None]	Required	IMU callback function.
imu_id	str	""	IMU ID; leave empty to use the default IMU.
queue_size	int	0	Pending callback queue size; 0 means unlimited.
overflow	OverflowPolicy	"drop_oldest"	Policy when the queue is full; see "Tasks and Subscriptions / OverflowPolicy".

Returns:

SensorSubscription, see "Tasks and Subscriptions / SensorSubscription"

Raises:

None.

Example:

import time
from boosteros.robots.booster import BoosterRobot
from boosteros.types import IMUState

robot = BoosterRobot()

def on_imu(data: IMUState) -> None:
    print(data.timestamp, data.rpy)
    # Example output: 1781085634.9679394 [1.11528370e-05 4.49275300e-02 -1.56997216e+00]

sub = robot.subscribe_imu(on_imu)
try:
    time.sleep(2.0)
finally:
    sub.unsubscribe()