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)); ...
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 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); } else { RCLCPP_ERROR(rclcpp::get_l...
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() minimal_client.send_req...
request->get_data = i;autoresult_future = client->async_send_request(request);if(rclcpp::spin_until_future_complete(node, result_future) != rclcpp::executor::FutureReturnCode::SUCCESS) {RCLCPP_ERROR(node->get_logger(),"service call failed!");continue; ...
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")...
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。 在实际移植过程中发现,一个常见的使用场景:client在原地阻塞式的等待request结果将会造成死锁。原...
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(client_demo) # 判断数据是否处理完成 if client_demo...
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); ...