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...
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: // 声明客户端 rclcpp::Client<example_interfaces::srv::AddTwoInts>::SharedPtr client_; ...
std::make_shared<example_ros2_interfaces::srv::MoveRobot::Request>(); request->distance = distance; // 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(&ExampleInterfacesControl::result_callback_, this, std::placeholders::_1)); }; private: //...
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: // 声明客户端 rclcpp::Client<example_interfaces::srv::AddTwoInts>::...
auto request = std::make_shared<example_ros2_interfaces::srv::MoveRobot::Request>(); request->distance = distance; // 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(&ExampleInterfacesControl::result_callback_, this, ...
typesupport-fastrtps-c 2.2.0-2jammy.20220520.005614 amd64 Generate the C interfaces for eProsima FastRTPS. ii ros-humble-rosidl-typesupport-fastrtps-cpp 2.2.0-2jammy.20220520.005259 amd64 Generate the C++ interfaces for eProsima FastRTPS. root@csc:/work/rclcpp_issues_2039# dpkg -l | grep ...
使用在前面的文章中创建的包,对节点、CMakelist和package文件进行一些简单的修改,就可以使用新的接口。 7.1使用pub/sub测试Num.msg 对前面创建的发布节点进行修改(~/dev_ws/src/cpp_pubsub/src/publisher_member_function.cpp)。 Publisher: #include<chrono>#include<memory>#include"rclcpp/rclcpp.hpp"#include"...
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(), ...
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; ...
auto future_result = client_get_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. auto future_status = wait_for_result(future_result, time_out); ...