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== Overview ==

bondpy is an implementation of [[bond]] in Python.  To use bondpy, please see the example below as well as the [[http://www.ros.org/doc/api/bondpy/html/|API documentation]].

== Example usage ==

'''Process A:'''
{{{#!python
from bondpy import bondpy

id = generate_unique_id()
# Sends id to B using an action or a service
bond = bondpy.Bond("example_bond_topic", id)
bond.start()
if not bond.wait_until_formed(rospy.Duration(1.0)):
    raise Exception('Bond could not be formed')
# ... do things with B ... 
bond.wait_until_broken()
print "B has broken the bond"
}}}

'''Process B:'''
{{{#!python
from bondpy import bondpy

# Receives id from A using a service or an action
bond = bondpy.Bond("example_bond_topic", id)
bond.start()
# ... do things ...
bond.break_bond()
}}}

== Report a Bug ==
<<GitHubIssues(ros/bond_core)>>


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