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...
self.get_logger().info('request refuesd') return self.get_logger().info('request received, start execute task') 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,...
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): 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): ...
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...
autoresult=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);}else{RCLCPP_ERROR(rclcpp::get_logger("rclcpp"),"Failed ...
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")...
get_num_entities 返回等待集中使用的各类实体的数量。 is_ready 如果等待集中有一个或多个实体准备就绪,则返回 True。 send_goal 发送的目标,并等待结果。 请勿在回调中调用此方法,否则可能出现死锁。 send_goal_async 发送目标并异步获取结果。 当行动服务器确认收到目标时,返回的 Future 结果将被设置...