def test_different_type_raises(self):
ac = ActionClient(self.node, Fibonacci, 'fibonacci')
try:
with self.assertRaises(TypeError):
ac.send_goal('different goal type')
with self.assertRaises(TypeError):
ac.send_goal_async('different goal type')
finally:
ac.destroy()
def _subscribe(observer, scheduler=None) -> Disposable:
action_client = ActionClient(node, action_type, action_name)
action_client.wait_for_server()
source.subscribe(on_next=lambda goal: observer.on_next(
action_client.send_goal(goal)))
return observer
class IndentionTester(Node):
def __init__(self):
super().__init__('indention_tester')
self._ttac3_action_client = ActionClient(
self, TTAC3, 'ttac3'
)
# Main Loop (by Thread)
update_period = 0.5
self.main_thread = create_thread(update_period, self.update)
# Publish Target Air Pressure
self.pub_target_air_pressure = self.create_publisher(Float32,'target_air_pressure', 10)
pub_timer = 0.5 # seconds
self.target_air_pressure = 150.0 # target_air_pressure
self.timer = self.create_timer(pub_timer, self.pub_target_air_pressure_callback)
# Subscribe Current Air Pressure
self.sub_current_air_pressure = self.create_subscription(
Float32,
'current_air_pressure',
self.current_air_pressure_listener_callback,
10
)
# Subscribe Bend Sensor
self.sub_bend_sensor = self.create_subscription(
Float32,
'bend_sensor',
self.bend_sensor_listener_callback,
10
)
def bend_sensor_listener_callback(self, msg):
# self.get_logger().info(f'Bend Sensor Value is {msg.data}')
self.bend_sensor = msg.data
def current_air_pressure_listener_callback(self, msg):
# self.get_logger().info(f'Current Air Pressure is {msg.data}')
self.current_air_pressure = msg.data
def pub_target_air_pressure_callback(self):
msg = Float32()
msg.data = self.target_air_pressure
self.pub_target_air_pressure.publish(msg)
# self.get_logger().info(f'Publishing: Target Air Pressure == {msg.data}')
def update(self):
home_position = [49, 137, 1]
indent_position = [49, 137, 20]
self.get_logger().info('on update')
self.ttac3_send_goal_sync(home_position)
# import ipdb; ipdb.set_trace()
self.get_logger().info('on update2')
# self.ttac3_send_goal_sync(indent_position)
# self.get_logger().info('on update3')
# self.ttac3_send_goal_sync(home_position)
def ttac3_send_goal_sync(self, xyz_goal):
goal_msg = TTAC3.Goal()
goal_msg.xyz_goal = xyz_goal
self._ttac3_action_client.wait_for_server()
self.get_logger().info(f'Request was Accepted by ttac3_server')
result = self._ttac3_action_client.send_goal(
goal_msg,
feedback_callback=None
)
self.get_logger().info(f'Result is {result.result.is_success}')
