self.get_logger().info("节点已启动:%s!" % name) self.client_ = self.create_client(MoveRobot,"move_robot") self.robot_status_subscribe_ = self.create_subscription(RobotStatus,"robot_status",self.robot_status_callback,10) def robot_status_callback(self,msg): self.get_logger().info(f"...
classMinimalClientAsync(Node): def__init__(self): super().__init__('minimal_client_async') self.cli=self.create_client(AddTwoInts, 'add_two_ints') whilenotself.cli.wait_for_service(timeout_sec=1.0): self.get_logger().info('service not available, waiting again...') self.req=Add...
using GoalHandleFibonacci = rclcpp_action::ClientGoalHandle<Fibonacci>; explicit FibonacciActionClient(const rclcpp::NodeOptions & options) : Node("fibonacci_action_client", options) { this->client_ptr_ = rclcpp_action::create_client<Fibonacci>( this, "fibonacci"); this->timer_ = this->create...
client_ = this->create_client<example_ros2_interfaces::srv::MoveRobot>( "move_robot"); /*订阅机器人状态话题*/ robot_status_subscribe_ = this->create_subscription<example_ros2_interfaces::msg::RobotStatus>("robot_status", 10, std::bind(&ExampleInterfacesControl::robot_status_callback_, th...
ros2 pkg create --build-type ament_cmake --node-name my_node my_package 运行命令后,您的终端将返回消息: 2 构建 略,参考上一篇开发环境验证 3 应用环境变量 install/local_setup.bat 4 使用包 要运行您--node-name在包创建期间使用参数创建的可执行文件,请输入以下命令: ...
◆ create_client() template<typename ServiceT > rclcpp::Client<ServiceT>::SharedPtr rclcpp::create_client ( std::shared_ptr< node_interfaces::NodeBaseInterface > node_base, std::shared_ptr< node_interfaces::NodeGraphInterface > node_graph, std::shared_ptr< node_interfaces::NodeServicesInterfa...
this->client_ptr_ = rclcpp_action::create_client<Fibonacci>(this,"fibonacci"); 一个动作客户端需要3件东西: 动作类型名称:Fibonacci。 将动作客户端添加到的ROS2节点:this。 动作名:fibonacci。 实例化一个ROS定时器,它将启动对send_goal的唯一调用: ...
Service Client rclcpp::Node::create_client() rclcpp::Client rclcpp/client.hpp Service Server rclcpp::Node::create_service() rclcpp::Service rclcpp/service.hpp Timer rclcpp::Node::create_wall_timer() rclcpp::WallTimer rclcpp::TimerBase
[1694600164.972114] info | Root.cpp | create_client | create | client_key: 0x788473F1, session_id: 0x81 [1694600164.972264] info | SessionManager.hpp | establish_session | session established | client_key: 0x788473F1, address: 0 [1694600164.972514] debug | SerialAgentLinux.cpp | send_message...
rclcpp::Client<example_interfaces::srv::AddTwoInts>::SharedPtr client = node->create_client<example_interfaces::srv::AddTwoInts>("add_two_ints");autorequest = std::make_shared<example_interfaces::srv::AddTwoInts::Request>(); request->a =atoll(argv[1]); ...