在ROS 2(Robot Operating System 2)中,async_send_request是一个用于异步发送服务请求的方法。下面我将根据你的要求逐一解释相关内容。 1. async_send_request的基本概念async_send_request是ROS 2中用于异步调用服务的方法。与同步调用相比,异步调用不会阻塞当前线程,允许程序在等待服务响应的同时继续执行其他任务。这...
std::make_shared<example_interfaces::srv::AddTwoInts_Request>(); request->a = a; request->b = b; // 3.发送异步请求,然后等待返回,返回时调用回调函数 client_->async_send_request( request, std::bind(&ServiceClient01::result_callback_, this, std::placeholders::_1)); }; private: //...
auto request = std::make_shared<example_interfaces::srv::AddTwoInts_Request>(); request->a = a; request->b = b; // 3.发送异步请求,然后等待返回,返回时调用回调函数 client_->async_send_request( request, std::bind(&ServiceClient01::result_callback_, this, std::placeholders::_1)); ...
Bug report Required Info: Operating System: Ubuntu 22.04.1 LTS (osrf/ros:humble-desktop docker image) Installation type: from source Version or commit hash: 4fa3489 DDS implementation: both fastrtps and cyclonedds Client library (if appl...
auto future = client->async_send_request(request); // 等待响应 if (rclcpp::spin_until_future_complete(node, future) ROS 2服务命令行工具 在使用如下的命令行工具前,先启动两个 turtlesim 节点:/turtlesim和/teleop_turtle。 打开一个 Terminal 并运行: ...
auto result = client->async_send_request(request); // Wait for the result. if (rclcpp::spin_until_future_complete(node, result) == rclcpp::FutureReturnCode::SUCCESS) { RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Sum: %ld", result.get()->sum); ...
service端部分对request的处理方式与ros1一致,但client端发送请求获得反馈的方式有变化。 ROS1中常用的client.call(srv)方式不再被ROS2支持,转而使用client->async_send_request(rquest)的异步方式。这种方式会返回一个std::future类型的变量用于检测是否已经获得回应。
autoresult=client->async_send_request(request);// Wait for the result.if(rclcpp::spin_until_future_complete(node,result)==rclcpp::executor::FutureReturnCode::SUCCESS){RCLCPP_INFO(rclcpp::get_logger("rclcpp"),"Sum: %ld",result.get()->sum);}else{RCLCPP_ERROR(rclcpp::get_logger("rclcpp")...
auto result = client->async_send_request(request); // Wait for the result. if (rclcpp::spin_until_future_complete(node, result) == rclcpp::FutureReturnCode::SUCCESS) { RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Sum: %ld", result.get()->sum); ...
def send_request(self): self.request.a = 10 self.request.b = 20 # 发送服务请求 self.future = self.client.call_async(self.request) def main(): rclpy.init() client_demo = Service_Client("client_node") client_demo.send_request() # 发送服务请求 while rclpy.ok(): rclpy.spin_once(clie...