Server回调函数触发流程 Server在创建完对象之后会调用spin,这个接口功能是在init中实现,get_global_executor获取到SingleThreadedExecutor实例调用spin_once、_spin_once_impl。 再调用wait_for_ready_callbacks进入到基类Executor。 主干逻辑是在_wait_for_ready_callbacks函数中实现,其中会调用_rclpy.WaitSet,这个函数实现...
File"/home/myLocalSuperUser/ros/Issue/NodeClient.py", line 67,inmainexecutor.spin() File"/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 294,inspinself.spin_once() File"/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 795,inspin_...
# 初始化节点rclpy.init()# 启动节点rclpy.spin()# 启动一个节点rclpy.spin_once()# 启动节点直至工作完成rclpy.spin_until_future_complete()# 获取执行程序rclpy.get_global_executor()# 关闭节点rclpy.shutdown() 2 Node # 导包from rclpy.node import Node# 添加等待add_waitable# 统计节点发布者数量count...
File "/home/rbailonr/adauv_ws/install/adauv_bluebox/lib/adauv_bluebox/vehicle.py", line 333, in main executor.spin() File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 294, in spin self.spin_once() File "/opt/ros/humble/local/lib/python3.10/dist-pa...
def main(args=None): rclpy.init(args=args) minimal_client = MinimalClientAsync() minimal_client.send_request() while rclpy.ok(): rclpy.spin_once(minimal_client) if minimal_client.future.done(): try: response = minimal_client.future.result() except Exception as e: minimal_client.get_logger...
node = TestParamsCallback() rclpy.spin(node) node.destroy_node() rclpy.shutdown() if __name__ == "__main__": main()Here we declare 3 parameters:camera_device_port (string) simulation_mode (bool) battery_percentage_warning (float, could also be int)We...
rclpy.spin(node) node.destroy_node() rclpy.shutdown() if__name__=="__main__": main() Note: you also need to provide either a default value (more on that later), or the type for each parameter. If you have autocompletion, you can easily find the available types by writing first...
# rclpy.spin_once(node, timeout_sec=1) # (B) If used, fails! print('2') msg_1 = getter_1.take() print(msg_1.data) if __name__ == "__main__": main() Expected behavior Be able to spin the main thread with any executor I like and have the same behavior, since it shoul...
self.spin_once(timeout_sec=timeout_left) 303+ self.spin_once_until_future_complete(future,timeout_left) 298304 now=time.monotonic() 299305 300306 ifnow>=end: @@ -313,6 +319,19 @@ def spin_once(self, timeout_sec: float = None) -> None: ...
whilerclpy.ok():executor.spin_once()ifnotself._destroy_node_queue.empty():rclpy_node=self._destroy_node_queue.get()executor.remove_node(rclpy_node)rclpy_node.destroy_node()self._destroy_node_queue.task_done() 👍4hacker1024, emileakbarzadeh, dawierha, and reinzor reacted with thumbs up ...