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.Request() # 创建服务请求的数据对象 def send_request(self): # 创建一个发送服务请求的函数 self.request.a = i...
client = rospy.ServiceProxy("test",test) # 组织请求数据,并发送消息 # 优化 num1 = int(sys.argv[1]) num2 = int(sys.argv[2]) client.wait_for_service() response = client.call(num1,num2) # response = client.call(12,23) # 5.处理响应 rospy.loginfo("响应的数据:%d",response.sum) ...
1.3函数原型 template<typenameRepT=int64_t,typenameRatioT=std::milli>bool rclcpp::ClientBase::wait_for_service ( std::chrono::duration< RepT, RatioT > timeout = std::chrono::duration<RepT,RatioT>(-1) ) 1. 2. 参数只有一个,而且有默认值,这个参数表示等待的超时时间。 二、使用方法 2.1 等待...
while not self.client.wait_for_service(timeout_sec=1.0): print("service not available, waiting...") # 创建服务请求数据对象 self.request = AddTwoInts.Request() def send_request(self): self.request.a = 10 self.request.b = 20 # 发送服务请求 self.future = self.client.call_async(self....
cli.wait_for_service(timeout_sec=1.0): self.get_logger().info('service not available, waiting again...') self.req = AddThreeInts.Request() # CHANGE 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]) # ...
while (!client->wait_for_service(1s)) { if (!rclcpp::ok()) { RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Interrupted while waiting for the service. Exiting."); return false; } RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "service not available, waiting again..."); ...
rospy,wait_for_service('word_count') 客户端要指定服务的名字和类型,这会使我们像调用本地函数一样使用服务,它将会帮我们作服务调用 miao@openlib:~$ rosrun basic service_client.py these are some words hhh these are some words hhh-> 5
while not self.client.wait_for_service(timeout_sec=1.0): self.get_logger().info('Service not available, waiting again...') self.req = AddTwoInts.Request() self.req.a = 1 self.req.b = 2 self.send_request() def send_request(self): ...
解决方式就是采用多线程、multi callback group的方式spin。这里我们可以使用r.wait_for(1s);来有效避免延迟导致的问题。 autor = ins_client->async_send_request(new_req_ptr, visual_lane_tracker_on_client_callback);autostatus = r.wait_for(1s);if(status !=std...
ros2 service typesvcnamelists service types that are registered on the ROS 2 network for the providedsvcname. ros2 action listlists action names that are registered on the ROS 2 network through either servers or clients. ros2 action typeactionnamelists action types that are registered on the ...