def on_act_debug(self):
if not self.ros_client.is_connected:
QMessageBox.critical(self, "错误", '尚未连接到ROS')
return
if self.host == '127.0.0.1' or self.host == 'localhost':
self.action_debug_client = self.ros_client
cmd = 'rosrun action action_debuger'
else:
cmd = 'roslaunch start start_action_debug_robot.launch'
try:
if self.action_debug_client is None:
print("run action_debug_client at 127.0.0.1:9090")
self.action_debug_client = Ros('127.0.0.1', 9090)
self.action_debug_client.run()
elif not self.action_debug_client.is_connected:
print("connecting action debug client")
self.action_debug_client.connect()
except Exception as e:
QMessageBox.critical(self, "错误", '无法连接到本地调试器 %s' % str(e))
return
act_service = Service(self.action_debug_client, '/debug/action/run',
'common/AddAngles')
act_service.advertise(self.on_recv_action)
os.popen(cmd)
def run_add_two_ints_service():
ros_client = Ros('127.0.0.1', 9090)
service = Service(ros_client, '/test_server', 'rospy_tutorials/AddTwoInts')
def dispose_server():
service.unadvertise()
service.ros.call_later(1, service.ros.terminate)
def add_two_ints(request, response):
response['sum'] = request['a'] + request['b']
if response['sum'] == 42:
service.ros.call_later(2, dispose_server)
return True
def check_sum(result):
assert (result['sum'] == 42)
def invoke_service():
client = Service(ros_client, '/test_server',
'rospy_tutorials/AddTwoInts')
client.call(ServiceRequest({'a': 2, 'b': 40}), check_sum, print)
service.advertise(add_two_ints)
ros_client.call_later(1, invoke_service)
ros_client.run_event_loop()
def run_empty_service():
ros_client = Ros('127.0.0.1', 9090)
ros_client.run()
service = Service(ros_client, '/test_empty_service', 'std_srvs/Empty')
service.advertise(lambda req, resp: True)
time.sleep(1)
client = Service(ros_client, '/test_empty_service', 'std_srvs/Empty')
client.call(ServiceRequest())
service.unadvertise()
time.sleep(2)
service.ros.terminate()
def run_add_two_ints_service():
ros_client = Ros('127.0.0.1', 9090)
ros_client.run()
def add_two_ints(request, response):
response['sum'] = request['a'] + request['b']
return False
service_name = '/test_sum_service'
service_type = 'rospy_tutorials/AddTwoInts'
service = Service(ros_client, service_name, service_type)
service.advertise(add_two_ints)
time.sleep(1)
client = Service(ros_client, service_name, service_type)
result = client.call(ServiceRequest({'a': 2, 'b': 40}))
assert (result['sum'] == 42)
service.unadvertise()
time.sleep(2)
service.ros.terminate()