下面是一个关系图,展示了ROS2 Python服务的相关组件之间的关系。 erDiagram Service_Client }--|> Service Service_Server }--|> Service 在这个关系图中,Service_Client和Service_Server是两个不同的节点,分别代表服务的客户端和服务器。它们之间通过Service来进行通信,其中Serv
ros::ServiceClient client = nh.serviceClient<learning_client_server::AddInts>("besproma_CSAddInt"); // 等待服务启动成功 //方式1 ros::service::waitForService("besproma_CSAddInt"); //方式2 // client.waitForExistence(); // 5.请求服务,接收响应 learning_client_server::AddInts addint; ...
class MinimalClientAsync(Node): def __init__(self): super().__init__('minimal_client_async') self.cli = self.create_client(AddTwoInts, 'add_two_ints') while not self.cli.wait_for_service(timeout_sec=1.0): self.get_logger().info('service not available, waiting again...') self...
. install/setup.bash ros2 run py_srvcli service 效果如下: [INFO] [minimal_client_async]: Result of add_two_ints: for 2 + 3 = 5 新开终端,运行 . install/setup.bash ros2 run py_srvcli client 2 3 效果如下: [INFO] [minimal_service]: Incoming request a: 2 b: 3 纠错...
self.future = self.client.call_async(self.request) # 异步方式发送服务请求 def main(args=None): rclpy.init(args=args) # ROS2 Python接口初始化 node = adderClient("service_adder_client") # 创建ROS2节点对象并进行初始化 node.send_request() # 发送服务请求 ...
class Service_Client(Node): def __init__(self, name): super().__init__(name) # 创建客户端,使用create_client函数 # 传入参数分别是:服务数据类型、服务名称 self.client = self.create_client(AddTwoInts, "/add_two_ints") # 循环等待服务端启动 while not self.client.wait_for_service(time...
service端部分对request的处理方式与ros1一致,但client端发送请求获得反馈的方式有变化。 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。
(args=args) minimal_client = MinimalClientAsync() minimal_client.send_request() while rclpy.ok(): rclpy.spin_once(minimal_client) if minimal_client.future.done(): try: response = minimal_client.future.result() except Exception as e: minimal_client.get_logger().info( 'Service call failed ...
Parameters are based on services, and as such have a similar profile. The difference is that parameters use a much larger queue depth so that requests do not get lost when, for example, the parameter client is unable to reach the parameter service server. ...
# 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 Exception as e:...