description='Python client server tutorial', license='Apache License 2.0', 1. 2. 3. 4. 2. 编写服务service节点 进入dev_ws/src/py_srvcli/src文件夹,创建service_member_function.py文件,粘贴下面的内容后保存。 AI检测代码解析 from example_interfaces.srv import AddTwoInts import rclpy from rclpy.no...
<description>Python client server tutorial</description> <maintainer email="you@email.com">Your Name</maintainer> <license>Apache License 2.0</license> 更改setup.py maintainer, maintainer_email, description and license都更改与package.xml对应的 在目录dev_ws/src/py_srvcli/py_srvcli下,新增service_memb...
ros::init(argc,argv,"besproma_client"); // 3.创建 ROS 句柄 ros::NodeHandle nh; // 4.创建 客户端 对象 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...
self.client = self.create_client(AddTwoInts, 'add_two_ints') # 创建服务客户端对象(服务接口类型,服务名) while not self.client.wait_for_service(timeout_sec=1.0): # 循环等待服务器端成功启动 self.get_logger().info('service not available, waiting again...') self.request = AddTwoInts.R...
. 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...
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...
(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 ...
ros2中的service是异步的,一个server可支持多个client,但每次只能响应一个request。client在调用服务请求时会添加一个回调函数,在服务端response时触发,在这期间主线程不会阻塞 动作差异 ros1中action机制是运行服务端和客户端异步请求,采用无阻塞的编程方式; ...
# 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:...
自适应AUTOSAR和ROS2提供了分离执行硬件和应用程序的层次结构,比较这些平台的整体结构,可以看到自适应AUTOSAR应用程序编程接口(API)的命名给人一种预期功能的印象,ROS2的层次结构在同样的程度上并不好解释,因此我们需要对ROS2的Client Library和Abstract DDS Layer的范围和内容与自适应AUTOSAR架构进行比较。由于自适应AU...