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)); ...
Request() # CHANGE def send_request(self): self.req.a = int(sys.argv[1]) self.req.b = int(sys.argv[2]) self.req.c = int(sys.argv[3]) # CHANGE self.future = self.cli.call_async(self.req) def main(args=None): rclpy.init(args=args) minimal_client = MinimalClientAsync() ...
// We send the request with the transition we want to invoke. auto future_result = client_change_state_->async_send_request(request); // Let's wait until we have the answer from the node. // If the request times out, we return an unknown state. ...
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 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); ...
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 future = client->async_send_request(request); // 发送请求并获取响应 if (rclcpp::spin_until_future_complete(node, future) == rclcpp::FutureReturnCode::SUCCESS) { // 处理响应数据 } else { // 请求失败处理 } rclcpp::shutdown(); return 0; } ``` 四、参数(Parameter) 参数是ROS2中...
auto request = std::make_shared<TestService::Request>();for (int i = 0; i <= 10000; i++){ request->get_data = i;auto result_future = client->async_send_request(request);if (rclcpp::spin_until_future_complete(node, result_future) != rclcpp::executor::FutureReturnCode::SUCCESS){...