self._get_result_future = goal_handle.get_result_async() self._get_result_future.add_done_callback(self._get_result_callback) # 处理最终响应 def get_result_callback(self, future): result = future.result().result self.get_logger.info('final result sum = %d' % result.sum) rclpy.shu...
self._send_goal_future=self._action_client.send_goal_async(goal_msg, feedback_callback=self.feedback_callback) self._send_goal_future.add_done_callback(self.goal_response_callback) defgoal_response_callback(self, future): goal_handle=future.result() ifnotgoal_handle.accepted: self.get_log...
return self.get_logger().info('Goal accepted :)') self._get_result_future = goal_handle.get_result_async() self._get_result_future.add_done_callback(self.get_result_callback) def get_result_callback(self, future): result = future.result().result self.get_logger().info('Result: {0...
self.get_logger().info('Goal rejected :(') return self.get_logger().info('Goal accepted :)') self._get_result_future = goal_handle.get_result_async() self._get_result_future.add_done_callback(self.get_result_callback) def get_result_callback(self, future): """获取结果反馈""" re...
return self.get_logger().info('Goal accepted :)') self._get_result_future = goal_handle.get_result_async() self._get_result_future.add_done_callback(self.get_result_callback) def get_result_callback(self, future): """获取结果反馈""" result = future.result().result self.get_logger...
(args=args) # ROS2 Python接口初始化 node = objectClient("service_object_client") # 创建ROS2节点对象并进行初始化 node.send_request()whilerclpy.ok(): rclpy.spin_once(node)ifnode.future.done():try: response = node.future.result() except Ex...
而ROS2中若不采用多线程、multi callback group的spin方式,各个callback间采用单线程轮询调度,get()会阻塞当前线程,async_send_request的callback就永远无法被调用。 解决方式就是采用多线程、multi callback group的方式spin。这里我们可以使用r.wait_for(1s);来有效避免延迟...
c_str(), "turtle2") == 0) { turtle_spawning_service_ready_ = true; } else { RCLCPP_ERROR(this->get_logger(), "Service callback result mismatch"); } }; auto result = spawner_->async_send_request(request, response_received_callback); } else { RCLCPP_INFO(this->get_logger(), ...
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); ...