Node 需要同步通讯交换信息时一般使用service。Topic 一般拥有很强的类型定义:一种类型的topic只能接受/发送特定数据类型(message type)的message。Publisher 没有被要求类型一致性,但是接受时subscriber会检查类型的md5,进而报错。 Service: service 用于处理ros通讯中的同步通讯,采用server/client 语义。每个service type拥...
while not self.client.wait_for_service(timeout_sec=1.0): print("service not available, waiting...")<br> # 创建服务请求数据对象 self.request = AddTwoInts.Request() def send_request(self): self.request.a = 10 self.request.b = 20<br> # 发送服务请求 self.future = self.client.call_...
(const std::string& service, const boost::function<bool(MReq&, MRes&)>& callback, const VoidConstPtr& tracked_object = VoidConstPtr()); template<class S> ServiceServer NodeHandle::advertiseService(const std::string& service, const boost::function<bool(S&)>& callback, const VoidConstPtr&...
nav2_clear_costmap_service_bt_node - nav2_is_stuck_condition_bt_node - nav2_goal_reached_condition_bt_node - nav2_goal_updated_condition_bt_node - nav2_initial_pose_received_condition_bt_node - nav2_reinitialize_global_localization_service_bt_node - nav2_rate_controller_bt_node - nav2...
// CallbackInterface是基类,实际存储时: // topic机制中类型是SubscriptionQueue。server机制中类型是ServiceCallback。 CallbackInterfacePtr callback; uint64_t removal_id; // 一旦为true,表示此个任务已被移除,不须要真的去回调app注册的cb。 bool marked_for_removal; }; typedef std::list<CallbackInfo>...
template<class Service> bool call(Service& service) 等待服务函数1: /** * ros::service::waitForService("addInts"); * \brief 等待服务可用,否则一致处于阻塞状态* \param service_name 被"等待"的服务的话题名称 * \param timeout 等待最大时常,默认为 -1,可以永久等待直至节点关闭 ...
/ip service set telnet disabled=yes set ftp disabled=yes set www disabled=yes set ssh disabled=...
while not self.client.wait_for_service(timeout_sec=1.0): self.get_logger().info('service not available, waiting again...') self.request = GetObjectPosition.Request() def send_request(self): self.request.get = True self.future = self.client.call_async(self.request) ...
If modbus communication with the tool device is needed, please first set the proper baud rate and timeout parameters through the "xarm/config_tool_modbus" service (refer to ConfigToolModbus.srv). For example: $ rosservice call /xarm/config_tool_modbus 115200 20 The above command will configure...
(GetObjectPosition,'get_target_position')whilenotself.client.wait_for_service(timeout_sec=1.0): self.get_logger().info('service not available, waiting again...') self.request = GetObjectPosition.Request() def send_request(self): self.request....